Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation

IEEE Transactions on Neural Systems and Rehabilitation Engineering

Volumn 13, Issue 3, 2005, Pages 395-405

  Roetenberg, Daniel ^a   Luinge, Henk J ^b   Baten, Chris T M ^c   Veltink, Peter H ^a  

^a UNIVERSITY OF TWENTE   (Netherlands)

^b Xsens Technologies   (Netherlands)

^c ROESSINGH RESEARCH AND DEVELOPMENT   (Netherlands)

Author keywords

Accelerometer; Gyroscope; Kalman filter; Magnetic disturbance; Magnetometer; Orientation; Sensor fusion

Indexed keywords

ACCELEROMETERS; FERROMAGNETIC MATERIALS; GYROSCOPES; MAGNETIC FIELDS; MAGNETOMETERS; SENSOR DATA FUSION; SENSORS; SIGNAL PROCESSING;

MAGNETIC DISTURBANCE; ORIENTATION; SENSOR FUSION;

KALMAN FILTERING;

FERROMAGNETIC MATERIAL;

ACCELEROMETER; ANALYTICAL ERROR; ARTICLE; BODY REGIONS; DEVICE; DYNAMICS; GYROSCOPE; MAGNETIC FIELD; MAGNETISM; MAGNETOMETER; ORIENTATION; PERFORMANCE; PRIORITY JOURNAL; SENSOR; STATISTICAL SIGNIFICANCE;

ACCELERATION; ALGORITHMS; ARTIFACTS; COMPUTER SIMULATION; DIAGNOSIS, COMPUTER-ASSISTED; HUMANS; JOINTS; MAGNETICS; MODELS, BIOLOGICAL; MOVEMENT; POSTURE; RANGE OF MOTION, ARTICULAR;

EID: 26444563443     PISSN: 15344320     EISSN: None     Source Type: Journal    
DOI: 10.1109/TNSRE.2005.847353     Document Type: Article

References (36)

1. M. Munneke, Z. de Jong, A. H. Zwinderman, G. J. Tijhuis, J. M. Hazes, and T. P. V. Vlieland, "The value of a continuous ambulatory activity monitor to quantify the amount and intensity of daily activity in patients with rheumatoid arthritis," J. Rheumatol., vol. 28, no. 4, pp. 745-50, 2001.
2. H. J. Busser, J. Ott, R. C. van Lummel, M. Uiterwaal, and R. Blank, "Ambulatory monitoring of children's activity," Med. Eng. Phys., vol. 19, no. 5, pp. 440-5, 1997.
3. M. J. Mathie, A. C. F. Coster, N. H. Lovell, and B. G. Celler, "Detection of daily physical activities using a triaxial accelerometer," Med. Biol. Eng. Comput., vol. 41, no. 03, pp. 296-301, 2003.
4. C. T. M. Baten, H. van Moerkerk, I. I. Kingma, J. Van Dieën, T. Dolan, P. H. Veltink, and H. J. Hermens, "Ambulatory low back load exposure estimation," presented at the 14th Tri-Annual Congress IEA/44th Ann. Meeting HFES, San Diego, CA, 2000.
5. H. J. Busser, W. de Korte, E. Glerum, and R. van Lummel, "Method, for objective assessment of physical work load at the workplace," Ergonomics, vol. 41, no. 10, pp. 1519-1526, 1998.
6. C. V. C. Bouten, K. T. M. Koekkoek, M. Verduin, R. Kodde, and J. D. Janssen, "A triaxial accelerometer and portable processing unit for the assessment of daily physical activity," IEEE Trans. Biomed. Eng., vol. 44, no. 3, pp. 136-147, Mar. 1997.
7. M. Uiterwaal, E. B. Glerum, H. J. Busser, and R. C. van Lummel, "Ambulatory monitoring of physical activity in working situations, a validation study," J. Med. Eng. Tech., vol. 22, no. 4, pp. 168-72, 1998.
8. P. H. Veltink, "Sensory feedback in artificial control of human mobility," Tech. Health Care, vol. 7, no. 6, pp. 383-391, 1999.
9. P. H. Veltink, P. Slycke, J. Hemssems, R. Buschman, G. Bultstra, and H. Hermens, "Three dimensional inertial sensing of foot movements for automatic tuning of a two-channel implantable drop-foot stimulator," Med. Eng. Phys., vol. 25, no. 1, pp. 21-8, 2003.
10. R. E. Mayagoitia, A. V. Nene, and P. H. Veltink, "Accelerometer and rate gyroscope measurement of kinematics: An inexpensive alternative to optical motion analysis systems," J. Biomechanics, vol. 35, no. 4, pp. 537-542, 2002.
11. L. Williamson and B. J. Andrews, "Detecting absolute human knee angle and angular velocity using accelerometers and rate gyroscopes," Med. Biol. Eng. Comput., vol. 39, no. 03, pp. 294-302, 2003.
12. E. B. Bachmann, "Inertial and magnetic tracking of limb segment orientation for inserting humans into synthetic environments," Ph.D. dissertation, Naval Postgrad. School, Monterey, CA, 2000.
13. P. Jonker, S. Persa, J. Caarls, F. Jong de, and I. Lagendijk, "Philosophies and technologies for ambient aware devices in wearable computing grids," Comput. Commun., no. 26, pp. 1145-1158, 2003.
14. E. Foxlin, "Inertial head-tracker sensor fusion by a complementary separate-bias Kalman filter," in Proc. VRAIS, 1996, pp. 185-194.
15. D. Giansanti, V. Macellari, G. Maccioni, and A. Cappozzo, "Is it feasible to reconstruct body segment 3-D position and orientation using accelerometric data?," IEEE Trans. Biomed. Eng., vol. 50, no. 4, pp. 476-83, Apr. 2003.
16. H. J. Luinge and P. H. Veltink, "Inclination measurement of human movement using a 3-D accelerometer with autocalibration," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 12, no. 1, pp. 112-121, Mar. 2004.
17. G.-Å. Hansson, P. Asterland, N.-G. Holmer, and S. Skerfving, "Validity and reliability of triaxial accelerometers for inclinometry in posture analysis," Med. Biol. Eng. Comp., vol. 39, no. 04, pp. 415-413, 2001.
18. E. Bernmark and C. Wiktorin, "A triaxial accelerometer for measuring arm movements," Appl. Ergonomics, vol. 33, no. 6, pp. 541-547, 2002.
19. H. J. Luinge, P. H. Veltink, and C. T. Baten, "Estimating orientation with gyroscopes and accelerometers," Technol. Health Care, vol. 7, no. 6, pp. 455-9, 1999.
20. M. Haid and J. Breitenbach, "Low cost inertial orientation tracking with Kaiman filter," Appl. Math. Comp., vol. 153, no. 2, pp. 567-575, 2003.
21. B. Kemp, A. J. Janssen, and B. van der Kamp, "Body position can be monitored in 3-D using miniature accelerometers and earth-magnetic field sensors," Electroencephalogr. Clin. Neurophysiol., vol. 109, no. 6, pp. 484-8, 1998.
22. J. L. Marins, X. Yun, E. R. Bachmann, R. B. McGhee, and M. J. Zyda, "An extended Kalman filter for quaternion-based orientation estimation using MARG sensors," in IEEE/RSJ Int. Conf. Intelligent Robots Syst., vol. 4, 2001, pp. 2003-2011.
23. H. J. Luinge, "Inertial sensing of human movement," Ph.D. dissertation, University of Twente, Enschede, The Netherlands, 2002.
24. R. G. Brown and P. Y. C. Hwang, Introduction to Random Signals and Applied Kalman Filtering, 3rd ed. New York: Wiley, 1997.
25. J. E. Bortz, "A new mathematical formulation for strapdown inertial navigation," IEEE Trans. Aerosp. Electron. Syst., vol. 7, pp. 61-66, 1971.
26. National Geomagnetism Program. Geomagnetism, PN. [Online]. Available: http://geomag.usgs.gov
27. MT9-A Datasheet. Xsens. [Online]. Available: http://www.xsens.com
28. F. Ferraris, U. Grimalde, and M. Parvis, "Procedure for effortless in-field calibration of three axis rate gyros and accelerometers," Sens. Mater., vol. 7, no. 5, p. 311, 1995.
29. H. J. Luinge and P. H. Veltink, "Measuring orientation of human body segments using miniature gyroscopes and accelerometers," Med. Biol. Eng. Comp., to be published.
30. Y. Ehara, H. Fujimoto, S. Miyazaki, M. Mochimaru, S. Tanaka, and S. Yamamoto, "Comparison of the performance of 3-D camera systems II," Gait Posture, vol. 5, pp. 251-255, 1997.
31. C. T. M. Baten, H. Luinge, and H. Moerkerk van, "Estimating body segment body orientation applying inertial sensing," presented at the 6th Int. Symp. 3-D Analysis Human Movement, Cape Town, South Africa, 2000.
32. M. J. Caruso, "Application of magnetoresistive sensors in navigation systems," Sens. Actuators, 1991.
33. J. Soderkvist, "Micromachined gyroscopes," Sens. Actuators A, Phys., vol. 43, pp. 65-71, 1994.
34. S. E. Alper and T. Akin, "A symmetric surface micromachined gyroscope with decoupled oscillation modes," Sens Actuators A, Phys., vol. 97-8, pp. 347-358, 2002.
35. H. K. Xie and G. K. Fedder, "Integrated microelectromechanical gyroscopes," J. Aerospace Eng., vol. 16, no. 2, pp. 65-75, 2003.
36. iMEMS Gyroscopes Data Sheets (ADXRS150 & ADXRS300), Analog Devices, 2003.