Design and Validation of an IMU Based Full Hand Kinematic Measurement System
Measurement of hand kinematics is commonly done using data gloves and optical trackers and finds application in biomechanics, motor control research, clinical assessment, virtual reality etc. While data gloves are expensive and restrict the dexterity of the hand, optical trackers are susceptible to...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9870778/ |
| _version_ | 1798033388335005696 |
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| author | Prajwal Shenoy Anurag Gupta Varadhan S.K.M. |
| author_facet | Prajwal Shenoy Anurag Gupta Varadhan S.K.M. |
| author_sort | Prajwal Shenoy |
| collection | DOAJ |
| description | Measurement of hand kinematics is commonly done using data gloves and optical trackers and finds application in biomechanics, motor control research, clinical assessment, virtual reality etc. While data gloves are expensive and restrict the dexterity of the hand, optical trackers are susceptible to the line-of-sight problem and can be used only in a laboratory setting. Over the last decade, the use of Inertial Measurement Units (IMUs) to measure kinematics has gained traction due to their affordability and good accuracy. This paper presents the design and validation of a BNO055 IMU-based full Hand Kinematics Measurement System (HKMS). The best features from existing IMU-based devices were identified from the literature and incorporated. The HKMS streams orientation information of 16 BNO055 IMUs in real-time at 100 Hz via Wi-Fi or USB. A rigorous static and dynamic validation of the BNO055 IMU was done against 3D printed models and the highly accurate Electro Magnetic Tracking System (EMTS). The RMSE errors were found to be acceptable for the measurement of hand kinematics. Two experiments were conducted to collect hand kinematic data for various postures and object grasps using the HKMS and EMTS, respectively. Synergy analysis was done and range of motion of the joints was calculated using the two datasets. The results were compared to get an idea of the quality of the dataset collected using the HKMS. The results as well as the overall validation of the sensors indicate that the HKMS may be suitable for usage in a laboratory or clinical setup. |
| first_indexed | 2024-04-11T20:29:37Z |
| format | Article |
| id | doaj.art-b265ff7760524264a4b5ba5d9cae165b |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-11T20:29:37Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-b265ff7760524264a4b5ba5d9cae165b2022-12-22T04:04:33ZengIEEEIEEE Access2169-35362022-01-0110938129383010.1109/ACCESS.2022.32031869870778Design and Validation of an IMU Based Full Hand Kinematic Measurement SystemPrajwal Shenoy0https://orcid.org/0000-0001-9067-1817Anurag Gupta1https://orcid.org/0000-0002-9163-0870Varadhan S.K.M.2https://orcid.org/0000-0002-5746-2340Department of Applied Mechanics, Indian Institute of Technology, Madras, Chennai, Tamil Nadu, IndiaDepartment of Applied Mechanics, Indian Institute of Technology, Madras, Chennai, Tamil Nadu, IndiaDepartment of Applied Mechanics, Indian Institute of Technology, Madras, Chennai, Tamil Nadu, IndiaMeasurement of hand kinematics is commonly done using data gloves and optical trackers and finds application in biomechanics, motor control research, clinical assessment, virtual reality etc. While data gloves are expensive and restrict the dexterity of the hand, optical trackers are susceptible to the line-of-sight problem and can be used only in a laboratory setting. Over the last decade, the use of Inertial Measurement Units (IMUs) to measure kinematics has gained traction due to their affordability and good accuracy. This paper presents the design and validation of a BNO055 IMU-based full Hand Kinematics Measurement System (HKMS). The best features from existing IMU-based devices were identified from the literature and incorporated. The HKMS streams orientation information of 16 BNO055 IMUs in real-time at 100 Hz via Wi-Fi or USB. A rigorous static and dynamic validation of the BNO055 IMU was done against 3D printed models and the highly accurate Electro Magnetic Tracking System (EMTS). The RMSE errors were found to be acceptable for the measurement of hand kinematics. Two experiments were conducted to collect hand kinematic data for various postures and object grasps using the HKMS and EMTS, respectively. Synergy analysis was done and range of motion of the joints was calculated using the two datasets. The results were compared to get an idea of the quality of the dataset collected using the HKMS. The results as well as the overall validation of the sensors indicate that the HKMS may be suitable for usage in a laboratory or clinical setup.https://ieeexplore.ieee.org/document/9870778/BNO055data gloveshand kinematicsIMUIMU validationinertial measurement unit |
| spellingShingle | Prajwal Shenoy Anurag Gupta Varadhan S.K.M. Design and Validation of an IMU Based Full Hand Kinematic Measurement System IEEE Access BNO055 data gloves hand kinematics IMU IMU validation inertial measurement unit |
| title | Design and Validation of an IMU Based Full Hand Kinematic Measurement System |
| title_full | Design and Validation of an IMU Based Full Hand Kinematic Measurement System |
| title_fullStr | Design and Validation of an IMU Based Full Hand Kinematic Measurement System |
| title_full_unstemmed | Design and Validation of an IMU Based Full Hand Kinematic Measurement System |
| title_short | Design and Validation of an IMU Based Full Hand Kinematic Measurement System |
| title_sort | design and validation of an imu based full hand kinematic measurement system |
| topic | BNO055 data gloves hand kinematics IMU IMU validation inertial measurement unit |
| url | https://ieeexplore.ieee.org/document/9870778/ |
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