Model-based Tracking of Magnetic Sensor Gloves in Real Time
While mechanical tracking is commonly seen in robot-assisted surgery, contactless gesture control leads to a more intuitive approach. Magnetic localization systems might be able to provide an untethered access to the necessary hand movement data. A model-based system exploiting a priori knowledge to...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2023-09-01
|
| Series: | Current Directions in Biomedical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/cdbme-2023-1022 |
| _version_ | 1797646353560502272 |
|---|---|
| author | Boueke Moritz Hoffmann Johannes Schmidt Tobias Bald Christin Bergholz Robert Schmidt Gerhard |
| author_facet | Boueke Moritz Hoffmann Johannes Schmidt Tobias Bald Christin Bergholz Robert Schmidt Gerhard |
| author_sort | Boueke Moritz |
| collection | DOAJ |
| description | While mechanical tracking is commonly seen in robot-assisted surgery, contactless gesture control leads to a more intuitive approach. Magnetic localization systems might be able to provide an untethered access to the necessary hand movement data. A model-based system exploiting a priori knowledge to improve the accuracy and robustness can be beneficial in this context. We present a proof of concept, in which the index finger of a digital twin of a hand is tracked with three simulated sensors. Based on the physiological composition, the finger is modeled as a kinematic chain with rotational degrees of freedom between the segments according to the corresponding finger joints. We applied an extended Kalman filter using this description to enhance position and rotation estimates for the sensors on the finger segments. We achieved mean absolute errors < 1 cm for the positions and < 10 for the local rotations with first simulations of a bending motion. |
| first_indexed | 2024-03-11T15:00:27Z |
| format | Article |
| id | doaj.art-1617ec3015c14ae1888834a665c64a47 |
| institution | Directory Open Access Journal |
| issn | 2364-5504 |
| language | English |
| last_indexed | 2024-03-11T15:00:27Z |
| publishDate | 2023-09-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Current Directions in Biomedical Engineering |
| spelling | doaj.art-1617ec3015c14ae1888834a665c64a472023-10-30T07:58:11ZengDe GruyterCurrent Directions in Biomedical Engineering2364-55042023-09-0191858810.1515/cdbme-2023-1022Model-based Tracking of Magnetic Sensor Gloves in Real TimeBoueke Moritz0Hoffmann Johannes1Schmidt Tobias2Bald Christin3Bergholz Robert4Schmidt Gerhard5Department of Electrical and Information Engineering, Faculty of Engineering, Kiel University, Kiel, GermanyDepartment of Electrical and Information Engineering, Faculty of Engineering, Kiel University, Kiel, GermanyDepartment of Electrical and Information Engineering, Faculty of Engineering, Kiel University, Kiel, GermanyDepartment of Electrical and Information Engineering, Faculty of Engineering, Kiel University, Kiel, GermanyDepartment of Pediatric Surgery, Faculty of Medicine, Kiel University, Kiel, GermanyDigital Signal Processing and System Theory, Department of Electrical and Information Engineering, Faculty of Engineering, Kiel University, Kaiserstr. 2, 24143Kiel, GermanyWhile mechanical tracking is commonly seen in robot-assisted surgery, contactless gesture control leads to a more intuitive approach. Magnetic localization systems might be able to provide an untethered access to the necessary hand movement data. A model-based system exploiting a priori knowledge to improve the accuracy and robustness can be beneficial in this context. We present a proof of concept, in which the index finger of a digital twin of a hand is tracked with three simulated sensors. Based on the physiological composition, the finger is modeled as a kinematic chain with rotational degrees of freedom between the segments according to the corresponding finger joints. We applied an extended Kalman filter using this description to enhance position and rotation estimates for the sensors on the finger segments. We achieved mean absolute errors < 1 cm for the positions and < 10 for the local rotations with first simulations of a bending motion.https://doi.org/10.1515/cdbme-2023-1022extended kalman filterkinematic chainpose estimationrobot-assisted surgery |
| spellingShingle | Boueke Moritz Hoffmann Johannes Schmidt Tobias Bald Christin Bergholz Robert Schmidt Gerhard Model-based Tracking of Magnetic Sensor Gloves in Real Time Current Directions in Biomedical Engineering extended kalman filter kinematic chain pose estimation robot-assisted surgery |
| title | Model-based Tracking of Magnetic Sensor Gloves in Real Time |
| title_full | Model-based Tracking of Magnetic Sensor Gloves in Real Time |
| title_fullStr | Model-based Tracking of Magnetic Sensor Gloves in Real Time |
| title_full_unstemmed | Model-based Tracking of Magnetic Sensor Gloves in Real Time |
| title_short | Model-based Tracking of Magnetic Sensor Gloves in Real Time |
| title_sort | model based tracking of magnetic sensor gloves in real time |
| topic | extended kalman filter kinematic chain pose estimation robot-assisted surgery |
| url | https://doi.org/10.1515/cdbme-2023-1022 |
| work_keys_str_mv | AT bouekemoritz modelbasedtrackingofmagneticsensorglovesinrealtime AT hoffmannjohannes modelbasedtrackingofmagneticsensorglovesinrealtime AT schmidttobias modelbasedtrackingofmagneticsensorglovesinrealtime AT baldchristin modelbasedtrackingofmagneticsensorglovesinrealtime AT bergholzrobert modelbasedtrackingofmagneticsensorglovesinrealtime AT schmidtgerhard modelbasedtrackingofmagneticsensorglovesinrealtime |