Upper Limb Joint Angle Estimation Using Wearable IMUs and Personalized Calibration Algorithm
: In physical therapy, exercises improve range of motion, muscle strength, and flexibility, where motion-tracking devices record motion data during exercises to improve treatment outcomes. Cameras and inertial measurement units (IMUs) are the basis of these devices. However, issues such as occlusion...
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| Format: | Article |
| Language: | English |
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Mdpi
2023
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| Online Access: | http://eprints.uthm.edu.my/11344/1/J15791_db2f85e07307d354877a0361d6099ef4.pdf |
| _version_ | 1811134767621472256 |
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| author | Rahman, Md. Mahmudur Kok Beng Gan, Kok Beng Gan Abd Aziz, Noor Azah Audrey Huong, Audrey Huong Huay Woon You, Huay Woon You |
| author_facet | Rahman, Md. Mahmudur Kok Beng Gan, Kok Beng Gan Abd Aziz, Noor Azah Audrey Huong, Audrey Huong Huay Woon You, Huay Woon You |
| author_sort | Rahman, Md. Mahmudur |
| collection | UTHM |
| description | : In physical therapy, exercises improve range of motion, muscle strength, and flexibility, where motion-tracking devices record motion data during exercises to improve treatment outcomes. Cameras and inertial measurement units (IMUs) are the basis of these devices. However, issues such as occlusion, privacy, and illumination can restrict vision-based systems. In these circumstances, IMUs may be employed to focus on a patient’s progress quantitatively during their rehabilitation. In this study, a 3D rigid body that can substitute a human arm was developed, and a two-stage
algorithm was designed, implemented, and validated to estimate the elbow joint angle of that rigid body using three IMUs and incorporating the Madgwick filter to fuse multiple sensor data. Two electro-goniometers (EGs) were linked to the rigid body to verify the accuracy of the joint angle
measuring algorithm. Additionally, the algorithm’s stability was confirmed even in the presence of external acceleration. Multiple trials using the proposed algorithm estimated the elbow joint angle of the rigid body with a maximum RMSE of 0.46◦ . Using the IMU manufacturer’s (WitMotion) algorithm (Kalman filter), the maximum RMSE was 1.97◦ . For the fourth trial, joint angles were also calculated with external acceleration, and the RMSE was 0.996◦ . In all cases, the joint angles were within therapeutic limits. |
| first_indexed | 2024-09-24T00:10:23Z |
| format | Article |
| id | uthm.eprints-11344 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | English |
| last_indexed | 2024-09-24T00:10:23Z |
| publishDate | 2023 |
| publisher | Mdpi |
| record_format | dspace |
| spelling | uthm.eprints-113442024-07-14T03:00:59Z http://eprints.uthm.edu.my/11344/ Upper Limb Joint Angle Estimation Using Wearable IMUs and Personalized Calibration Algorithm Rahman, Md. Mahmudur Kok Beng Gan, Kok Beng Gan Abd Aziz, Noor Azah Audrey Huong, Audrey Huong Huay Woon You, Huay Woon You T Technology (General) : In physical therapy, exercises improve range of motion, muscle strength, and flexibility, where motion-tracking devices record motion data during exercises to improve treatment outcomes. Cameras and inertial measurement units (IMUs) are the basis of these devices. However, issues such as occlusion, privacy, and illumination can restrict vision-based systems. In these circumstances, IMUs may be employed to focus on a patient’s progress quantitatively during their rehabilitation. In this study, a 3D rigid body that can substitute a human arm was developed, and a two-stage algorithm was designed, implemented, and validated to estimate the elbow joint angle of that rigid body using three IMUs and incorporating the Madgwick filter to fuse multiple sensor data. Two electro-goniometers (EGs) were linked to the rigid body to verify the accuracy of the joint angle measuring algorithm. Additionally, the algorithm’s stability was confirmed even in the presence of external acceleration. Multiple trials using the proposed algorithm estimated the elbow joint angle of the rigid body with a maximum RMSE of 0.46◦ . Using the IMU manufacturer’s (WitMotion) algorithm (Kalman filter), the maximum RMSE was 1.97◦ . For the fourth trial, joint angles were also calculated with external acceleration, and the RMSE was 0.996◦ . In all cases, the joint angles were within therapeutic limits. Mdpi 2023 Article PeerReviewed text en http://eprints.uthm.edu.my/11344/1/J15791_db2f85e07307d354877a0361d6099ef4.pdf Rahman, Md. Mahmudur and Kok Beng Gan, Kok Beng Gan and Abd Aziz, Noor Azah and Audrey Huong, Audrey Huong and Huay Woon You, Huay Woon You (2023) Upper Limb Joint Angle Estimation Using Wearable IMUs and Personalized Calibration Algorithm. Mathematics 2, 11 (970). pp. 1-17. https://doi.org/10.3390/math11040970 |
| spellingShingle | T Technology (General) Rahman, Md. Mahmudur Kok Beng Gan, Kok Beng Gan Abd Aziz, Noor Azah Audrey Huong, Audrey Huong Huay Woon You, Huay Woon You Upper Limb Joint Angle Estimation Using Wearable IMUs and Personalized Calibration Algorithm |
| title | Upper Limb Joint Angle Estimation Using Wearable IMUs and
Personalized Calibration Algorithm |
| title_full | Upper Limb Joint Angle Estimation Using Wearable IMUs and
Personalized Calibration Algorithm |
| title_fullStr | Upper Limb Joint Angle Estimation Using Wearable IMUs and
Personalized Calibration Algorithm |
| title_full_unstemmed | Upper Limb Joint Angle Estimation Using Wearable IMUs and
Personalized Calibration Algorithm |
| title_short | Upper Limb Joint Angle Estimation Using Wearable IMUs and
Personalized Calibration Algorithm |
| title_sort | upper limb joint angle estimation using wearable imus and personalized calibration algorithm |
| topic | T Technology (General) |
| url | http://eprints.uthm.edu.my/11344/1/J15791_db2f85e07307d354877a0361d6099ef4.pdf |
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