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In this article, a method for kinematic configuration estimation of a structure similar to a human finger, is presented. The method is based on the EKF and a model reflecting kinematic constraints of a finger-like structure (2-DOF metacarpophalangeal joint, and one 1-DOF proximal interphalangeal rotational joint), using 3 low cost IMUs. During tests, the IMUs were attached to a 3D-printed setup equipped...
The signal tracking properties of two adaptive notch filtering algorithms are studied analytically using a linear filter approximation technique. Even though restricted to a single frequency case, the presented analysis provides valuable insights into the tracking mechanisms, including the speed/accuracy tradeoffs, the achievable performance bounds, and tracking limitations of the analyzed algorithms...
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