Complementary observer for body segments motion capturing by inertial and magnetic sensors

IEEE/ASME Transactions on Mechatronics

Volumn 19, Issue 1, 2014, Pages 149-157

  Fourati, Hassen ^a   Manamanni, Noureddine ^b   Afilal, Lissan ^b   Handrich, Yves ^c  

^a GIPSA LAB   (France)

^b UNIVERSITÉ DE REIMS CHAMPAGNE ARDENNE   (France)

^c UNIVERSITÉ DE STRASBOURG   (France)

Author keywords

Complementary observer (CO); inertial measurement unit (IMU); motion capture; quaternion; wearable MEMS sensors

Indexed keywords

EID: 84895062848     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2012.2225151     Document Type: Article

References (42)

1. H. Zhou, H. Hu, N. D. Harris, and J. Hammerton, "Applications of wearable inertial sensors in estimation of upper limb movements, " Biomed. Signal Process. Control, vol. 1, no. 1, pp. 22-32, Jan. 2006. (Pubitemid 43923703)
2. A. M. Sabatini, "Quaternion-based strap-down integration method for applications of inertial sensing to gait analysis, " Med. Biol. Eng. Comput., vol. 43, no. 1, pp. 94-101, Jan. 2005. (Pubitemid 40277671)
3. H. Zhou and H. Hu, "Human motion tracking for rehabilitation-A survey, " Biomed. Signal Process. Control, vol. 3, no. 1, pp. 1-18, Jan. 2008. (Pubitemid 351211221)
4. P. H. Veltink, H. Kortier, and H. Martin Schepers, "Sensing power transfer between the human body and the environment, " IEEE Trans. Biomed. Eng., vol. 56, no. 6, pp. 1711-1718, Jun. 2009.
5. A. U. Alahakone and S. M. N. Arosha Senanayake, "A real-time system with assistive feedback for postural control in rehabilitation, " IEEE/ASME Trans. Mechatronics, vol. 15, no. 2, pp. 226-233, Apr. 2010.
6. Gypsy4 Mechanical Motion Capture. (2004). [online]. Available: www.animazoo.com
7. Motion Capture Systems From Vicon. (2005). [online]. Available: www.vicon.com
8. S. Beeby, G. Ensell, M. Kraft, and N. White, MEMS Mechanical Sensors. Norwood, MA: Artech House, 2004.
9. C. Verplaeste, "Inertial proprioceptive devices: Self-motion-sensing toys and tools, " IBM Syst. J., vol. 35, no. 3-4, pp. 639-650, 1996.
10. 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. (Pubitemid 38332788)
11. J. E. Bortz, "A new mathematical formulation for strap-down inertial navigation, " IEEE Trans. Aerosp. Electron. Syst., vol. 7, no. 1, pp. 61-66, Jan. 1971.
12. M. J. Caruso, "Applications of magnetic sensors for low cost compass systems, " in Proc. IEEE Position, Location Navig. Symp., San Diego, CA, 2000, pp. 177-184.
13. Eric R. Bachmann, X. Yun, and A. Brumfield, "Limitations of attitude estimation algorithms for inertial/magnetic sensor modules, " IEEE Robot. Autom. Mag., vol. 14, no. 3, pp. 76-87, Sep. 2007.
14. H. J. Luinge and P. H. Veltink, "Measuring orientation of human body segments using miniature gyroscopes and accelerometers, " Med. Biol. Eng. Comput., vol. 43, no. 2, pp. 273-282, 2005. (Pubitemid 40613858)
15. R. Zhu and Z. Zhou, "A real-time articulated human motion tracking using tri-axis inertial/magnetic sensors package, " IEEE Trans. Neural Syst. Rehabil. Eng., vol. 12, no. 2, pp. 295-302, Jun. 2004. (Pubitemid 38765759)
16. X. Yun and Eric R. Bachmann, "Design, implementation, and experimental results of a quaternion-based Kalman filter for human body motion tracking, " IEEE Trans. Robot., vol. 22, no. 6, pp. 1216-1227, Dec. 2006. (Pubitemid 44921749)
17. H. Ren and P. Kazanzides, "Investigation of attitude tracking using an integrated inertial and magnetic navigation system for hand-held surgical instruments, " IEEE/ASME Trans. Mechatronics, vol. 17, no. 2, pp. 210-217, Apr. 2012.
18. K. D. Nguyen, I.-M. Chen, Z. Luo, S. H. Yeo, and H. B.-L. Duh, "A wearable sensing system for tracking and monitoring of functional arm movement, " IEEE/ASME Trans. Mechatronics, vol. 16, no. 2, pp. 213-220, Apr. 2011.
19. Z. Q. Zhang, X. L. Meng, and J. K. Wu, "Quaternion-based Kalman filter with vector selection for accurate orientation tracking, " IEEE Trans. Instrum. Meas., vol. 61, no. 10, pp. 2817-2824, Oct. 2012.
20. A. A. Gopalai and S. M. N. A. Senanayake, "A wearable real-time intelligent posture corrective system using vibrotactile feedback, " IEEE/ASME Trans. Mechatronics, vol. 16, no. 5, pp. 827-834, Oct. 2011.
21. R. Mahony, T. Hamel, and J. M. Pflimlin, "Nonlinear complementary filters on the special orthogonal group, " IEEE Trans. Autom. Control., vol. 53, no. 5, pp. 1203-1218, Jun. 2008.
22. H. Fourati, N. Manamanni, L. Afilal, and Y. Handrich, "Nonlinear filtering approach for the attitude and dynamic body acceleration estimation based on inertial and magnetic sensors: Bio-logging application, " IEEE Sensors J., vol. 11, no. 1, pp. 233-244, Jan. 2011.
23. H. Grip, T. I. Fossen, T. A. Johansen, and A. Saberi, "Attitude estimation using biased gyro and vector measurements with time-varying reference vectors, " IEEE Trans. Autom. Control, vol. 57, no. 5, pp. 1332-1338, May 2012.
24. R. G. Brown and P. Y. C. Hwang, Introduction to Random Signal and Applied Kalman Filtering, 3rd ed. New York: Wiley, 1997.
25. M. D. Shuster, "A survey of attitude representations, " J. Astronaut. Sci., vol. 41, no. 4, pp. 493-517, Oct./Dec. 1993.
26. J. B. Kuipers, Quaternion and Rotation Sequences. Princeton, NJ: Princeton Univ. Press, 1999.
27. P. Cardou, G. Fournier, and P. Gagnon, "A nonlinear program for angular velocity estimation from centripetal acceleration measurements, " IEEE/ASME Trans. Mechatronics, vol. 16, no. 5, pp. 932-944, Oct. 2011.
28. J. K. Lee, E. J. Park, and S. N. Robinovitch, "Estimation of attitude and external acceleration using inertial sensor measurement during various dynamic conditions, "IEEE Trans. Instrum. Meas., vol. 61, no. 8, pp. 2262-2273, Aug. 2012.
29. H. Fourati, N. Manamanni, L. Afilal, and Y. Handrich, "Posture and body acceleration tracking by inertial and magnetic sensing: Application in behavioral analysis of free-ranging animals, " Biomed. Signal Process. Control, vol. 6, no. 1, pp. 94-104, Jan. 2011.
30. J. Deutschmann, I. Bar-Itzhack, and K. Galal, "Quaternion normalization in spacecraft attitude determination, " in Proc. AIAA Astrodynamics Conf., Washington, DC, 1992, pp. 27-37.
31. J. J. E. Slotine, J. K. Hedrick, and A. Misawa, "On sliding observers for nonlinear systems, " ASME J. Dyn. Syst. Meas. Control, vol. 109, pp. 245-252, 1987.
32. G. Wahba, "A least squares estimate of spacecraft attitude, " SIAM Rev., vol. 7, no. 3, p. 409, Jul. 1965.
33. Astrosurf. (2011, Jun.). http://www.astrosurf.com
34. P. Lin, J. Lu, C. Tsai, and C. Ho, "Design and implementation of a nine-axis inertial measurement unit, " IEEE/ASME Trans. Mechatronics, vol. 17, no. 4, pp. 657-668, Apr. 2012.
35. W. Wang and O. A. Jianu, "Asmart sensing unit for vibration measurement and monitoring, " IEEE/ASME Trans. Mechatronics, vol. 15, no. 1, pp. 70-78, Feb. 2010.
36. H. Fourati, N. Manamanni, L. Afilal, and Y. Handrich, "A quaternion-based complementary sliding mode observer for attitude estimation: application in free-ranging animal motions, " in Proc. 49th IEEE Conf. Decision Control, Atlanta, GA, 2010, pp. 5056-5061.
37. J. E. Dennis, Jr. and B. Robert Schnabel, Numerical Methods for Unconstrained Optimization and Nonlinear Equations. Englewood, NJ: Prentice-Hall, 1983.
38. W. Higgins, "A comparison of complementary and Kalman filtering, " IEEE Trans. Aerosp. Electron. Syst., vol. 11, no. 3, pp. 321-325, May 1975.
39. R. B. McGhee, E. R. Bachmann, X. Yun, and M. J. Zyda, "Real-time tracking and display of human limb segment motions using sourceless sensors and a quaternion based filtering algorithm-Part I: Theory, " Naval Postgraduate School, Monterey, CA, Rep. Doc., Nov. 2000.
40. Xsens Technologies. (2012, Oct.). http://www.xsens.com
41. ABB Group. (2012, Oct.). http://www.abb.com
42. W. F. Phillips, C. E. Hailey, and G. A. Gebert, "Review of attitude representations used for aircraft kinematics, " J. Aircraft, vol. 38, no. 4, pp. 718-223, Jul./Aug. 2001.