On the Orientation Error of IMU: Investigating Static and Dynamic Accuracy Targeting Human Motion.
The accuracy in orientation tracking attainable by using inertial measurement units (IMU) when measuring human motion is still an open issue. This study presents a systematic quantification of the accuracy under static conditions and typical human dynamics, simulated by means of a robotic arm. Two s...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Public Library of Science (PLoS)
2016-01-01
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| Series: | PLoS ONE |
| Online Access: | http://europepmc.org/articles/PMC5017605?pdf=render |
| _version_ | 1819154434451570688 |
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| author | Luca Ricci Fabrizio Taffoni Domenico Formica |
| author_facet | Luca Ricci Fabrizio Taffoni Domenico Formica |
| author_sort | Luca Ricci |
| collection | DOAJ |
| description | The accuracy in orientation tracking attainable by using inertial measurement units (IMU) when measuring human motion is still an open issue. This study presents a systematic quantification of the accuracy under static conditions and typical human dynamics, simulated by means of a robotic arm. Two sensor fusion algorithms, selected from the classes of the stochastic and complementary methods, are considered. The proposed protocol implements controlled and repeatable experimental conditions and validates accuracy for an extensive set of dynamic movements, that differ in frequency and amplitude of the movement. We found that dynamic performance of the tracking is only slightly dependent on the sensor fusion algorithm. Instead, it is dependent on the amplitude and frequency of the movement and a major contribution to the error derives from the orientation of the rotation axis w.r.t. the gravity vector. Absolute and relative errors upper bounds are found respectively in the range [0.7° ÷ 8.2°] and [1.0° ÷ 10.3°]. Alongside dynamic, static accuracy is thoroughly investigated, also with an emphasis on convergence behavior of the different algorithms. Reported results emphasize critical issues associated with the use of this technology and provide a baseline level of performance for the human motion related application. |
| first_indexed | 2024-12-22T15:21:01Z |
| format | Article |
| id | doaj.art-11e21b8d01284c889a382731931d37e2 |
| institution | Directory Open Access Journal |
| issn | 1932-6203 |
| language | English |
| last_indexed | 2024-12-22T15:21:01Z |
| publishDate | 2016-01-01 |
| publisher | Public Library of Science (PLoS) |
| record_format | Article |
| series | PLoS ONE |
| spelling | doaj.art-11e21b8d01284c889a382731931d37e22022-12-21T18:21:37ZengPublic Library of Science (PLoS)PLoS ONE1932-62032016-01-01119e016194010.1371/journal.pone.0161940On the Orientation Error of IMU: Investigating Static and Dynamic Accuracy Targeting Human Motion.Luca RicciFabrizio TaffoniDomenico FormicaThe accuracy in orientation tracking attainable by using inertial measurement units (IMU) when measuring human motion is still an open issue. This study presents a systematic quantification of the accuracy under static conditions and typical human dynamics, simulated by means of a robotic arm. Two sensor fusion algorithms, selected from the classes of the stochastic and complementary methods, are considered. The proposed protocol implements controlled and repeatable experimental conditions and validates accuracy for an extensive set of dynamic movements, that differ in frequency and amplitude of the movement. We found that dynamic performance of the tracking is only slightly dependent on the sensor fusion algorithm. Instead, it is dependent on the amplitude and frequency of the movement and a major contribution to the error derives from the orientation of the rotation axis w.r.t. the gravity vector. Absolute and relative errors upper bounds are found respectively in the range [0.7° ÷ 8.2°] and [1.0° ÷ 10.3°]. Alongside dynamic, static accuracy is thoroughly investigated, also with an emphasis on convergence behavior of the different algorithms. Reported results emphasize critical issues associated with the use of this technology and provide a baseline level of performance for the human motion related application.http://europepmc.org/articles/PMC5017605?pdf=render |
| spellingShingle | Luca Ricci Fabrizio Taffoni Domenico Formica On the Orientation Error of IMU: Investigating Static and Dynamic Accuracy Targeting Human Motion. PLoS ONE |
| title | On the Orientation Error of IMU: Investigating Static and Dynamic Accuracy Targeting Human Motion. |
| title_full | On the Orientation Error of IMU: Investigating Static and Dynamic Accuracy Targeting Human Motion. |
| title_fullStr | On the Orientation Error of IMU: Investigating Static and Dynamic Accuracy Targeting Human Motion. |
| title_full_unstemmed | On the Orientation Error of IMU: Investigating Static and Dynamic Accuracy Targeting Human Motion. |
| title_short | On the Orientation Error of IMU: Investigating Static and Dynamic Accuracy Targeting Human Motion. |
| title_sort | on the orientation error of imu investigating static and dynamic accuracy targeting human motion |
| url | http://europepmc.org/articles/PMC5017605?pdf=render |
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