Framework for Knee Joint Movement Analysis with Inertial Sensors and Recursive Filters
2019 IEEE 6th Portuguese Meeting on Bioengineering (ENBENG)(2019)
摘要
Health and sports monitoring based on wireless low power and low range communication devices have been proposed by a number of commercial and scientific solutions. Low cost and small form devices allow data transfer and processing without cumbersome cabling. Inertial Measurement Units (IMU), that include an accelerometer, a gyroscope and sometimes may include one magnetometer, are used to determine body movement profile. Despite their inherent inaccuracy, these sensors are used for computing three-dimensional space object orientation. These computations are usually implemented with sensor fusion algorithms within devices that have enhanced computational capabilities.This paper presents a work that aims at estimating the limb and body trunk movements of a pedaling user/patient in a bicycle like device. The presented study has been undertaken within the Exobike project. The Exobike is a bicycle like exoskeleton where the lower limbs and the trunk of a user/patient are to be monitored using IMU data transferred through a radio frequency Bluetooth Low Energy protocol. This paper focuses on the use of IMU sensors and a type of recursive filters to estimate movement profile.
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关键词
Exobike,Kalman Filters,Bluetooth Low Energy,Quaternions,Inertial Measurement Units
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