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The taper error exists with new character in Gyroscope-free Strap-down Inertial Navigation System. For GFSINS can't give out angle increment directly when adopting Equivalent Rotation Vector Algorithm with four samples, new calculating method was designed and optimized to improve the efficiency of attitude refreshing. At last, the coefficient in the calculating formula of equivalent rotation vector...
A wheelchair user's activity and mobility level is an important indicator of his/her quality of life and health status. To assess the activity and mobility level, wheelchair maneuvering data must be captured and analyzed. Recently, the inertial sensors, such as accelerometers, have been used to collect wheelchair maneuvering data. However, these sensors are sensitive to noises, which can lead to inaccurate...
In order to implement an unobstructed assessment of three-dimensional (3-D) gait, we developed a mobile force plate and 3-D motion analysis system (M3D) to measure triaxial ground reaction forces (GRF) and 3-D orientations of feet. Calibration and test experiments were conducted to characterize the sensor developed. To test the accuracy of the new measurement system, validation experiments by using...
In this paper, a group of new multi-axis MEMS sensors including triaxial gyroscope (ITG-3200), triaxial accelerometer (ADXL345) and triaxial magnetometer (HMC5843) are incorporated to develop a motion sensor with nine degrees of freedom (9D), which can communicate with personal computer through a Bluetooth wireless module. A simplified three-dimensional orientation estimation method is proposed in...
In this paper, a group of new multi-axis MEMS sensors including triaxial gyroscope (ITG-3200), triaxial accelerometer (ADXL345) and triaxial magnetometer (HMC5843) are incorporated to develop a nine degrees of freedom (9D) motion sensor, which can communicate with personal computer through a Bluetooth wireless module. A simplified Kalman filter is proposed in this paper to implement real-time estimation...
This paper presents the modeling and implementation of a two-wheel self-balancing robot which is built as a test platform as well as an exhibit for Macau Science Center. In this design, three feedback sensors are used: an accelerometer to measure the tilt angle of the robot with respect to gravity, a gyroscope to measure the angular rate and two shaft encoders to measure the position and velocity...
A new method for analyzing human segment three-dimensional orientation is presented. A wearable sensor system based on triaxial accelerometers alone was developed, and later was tested on a thigh to calculate the pitch and yaw angles of the thigh with the accelerations captured by the system. Wearing the developed system, eight volunteer subjects walked in the work space of a high-accuracy camera...
It is very important for modern directional drilling systems to measure the attitude of drilling accurately. A Micro Electro-Mechanical System (MEMS) composed of a three-axis micro accelerometer and a three-axis micro magnetoresistive is designed. A carrier communication is used to transmit data acquired by sensors instead of the mode of traditional transmission. The theory and the algorithm of the...
An original approach for ambulatory measurement and analysis of lower limb 3D gait posture was presented, and a wearable sensor system was developed according to the approach. To explicate the lower limb posture, thigh orientation angles were calculated based on a virtual sensor at the hip joint and double analog inertial sensors (MAG3) on the thigh; Knee joint angle in sagittal plane was calculated...
Gyroscope-Free Strap-down Inertial Navigation System (GFSINS) can play the role of inertial measurement and navigation only using accelerometers, which owns wide application foreground. However, the low precision of calculating angular-velocity is always the bottleneck problem of application in reality. To improve it, an intelligent weighted calculating method is designed ably based on a nine accelerometers...
A new method of measuring joint angle using a combination of 3D accelerometers and reaction force sensors is presented. Muscle motion is a common source of error to all body-mounted sensors. The effect of skin artefact was minimized based on the estimation of muscle motion measured using a new reaction force sensor banded with human body segment. The force sensor was designed using pressure sensitive...
This paper presents a novel approach only based on triaxial accelerometers for three-dimensional (3D) orientation of lower limb segment during real-time motion. With two coaxially placed triaxial accelerometers, the actual resultant acceleration signals containing the acceleration of gravity and lineal movement along each axis were obtained. The angle displacements for orientation of each segment...
This paper presents a study on quantitative dynamics analysis of human lower limb using developed wearable sensor systems that can measure reaction force and detect the following gait phases: initial contact, loading response, mid stance, terminal stance, pre-swing, initial swing, mid swing and terminal swing. Since conventional camera-based motion analysis system and reaction force plate system require...
A wearable sensory system for human lower extremity motion analysis is proposed, and an intelligent computation method for this sensory system is presented. The standard method for human motion analysis is the optical motion analysis using high-speed cameras to record human 3D motion, but this method is only limited in the laboratory research, because it requires expensive devices, large space and...
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