Efficient Upper Limb Position Estimation Based on Angular Displacement Sensors for Wearable Devices.

Sensors
Aldo-Francisco Contreras-GonzálezFernando Blaya Haro

Abstract

Motion tracking techniques have been extensively studied in recent years. However, capturing movements of the upper limbs is a challenging task. This document presents the estimation of arm orientation and elbow and wrist position using wearable flexible sensors (WFSs). A study was developed to obtain the highest range of motion (ROM) of the shoulder with as few sensors as possible, and a method for estimating arm length and a calibration procedure was proposed. Performance was verified by comparing measurement of the shoulder joint angles obtained from commercial two-axis soft angular displacement sensors (sADS) from Bend Labs and from the ground truth system (GTS) OptiTrack. The global root-mean-square error (RMSE) for the shoulder angle is 2.93 degrees and 37.5 mm for the position estimation of the wrist in cyclical movements; this measure of RMSE was improved to 13.6 mm by implementing a gesture classifier.

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Methods Mentioned

BETA
PCA

Software Mentioned

LP
Exosuit
BendLabs
MATLAB
OptiTrack
RESEARCH

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