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Calibration platform for wearable 3D motion sensors

Calibration platform for wearable 3D motion sensors

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Wearable Exoskeleton Systems: Design, control and applications — Recommend this title to your library

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With the development of microelectromechanical system technologies, wearable motion sensors (WMSs) have played an increasingly significant role in the design of exoskeletons, where the WMSs are used for motion detection, orientation estimation, or position estimation. For these applications, the accuracy of the WMSs will affect the overall performance of the exoskeletons. The purpose of this chapter is to present an evaluation platform for assessing the accuracy of WMSs, assisting to develop or choose proper WMSs for exoskeletons. The presented evaluation platform is an instrumented gimbal with three rotation axes. Each axis is equipped with a DC motor and an absolute encoder. Thus, each axis can be controlled independently, and the rotation angle around each axis can be output accurately. In addition, each axis can rotate continuously via the equipped electrical slip rings. One of the major advantages of the instrumented gimbal is that it can be used for accurate motion analysis without needing any additional equipment. In order to verify the function of the platform, validation experiments were conducted, including a static accuracy test, and dynamic accuracy test with and without magnetic disturbances. Results show that the designed gimbal has good potential for evaluating the orientation of WMSs under different conditions.

Chapter Contents:

  • Abstract
  • 6.1 Introduction
  • 6.2 Design of instrumented gimbal
  • 6.2.1 The mechanical structure of the instrumented gimbal
  • 6.2.2 The controller of the designed gimbal
  • 6.2.3 The method for eliminating the magnetic disturbances
  • 6.2.4 Calibration of the gimbal
  • 6.3 Orientation evaluation with instrumented gimbal
  • 6.3.1 Orientation error analysis using the instrumented gimbal
  • 6.3.2 Selected wearable motion sensor
  • 6.3.3 Sensor configuration
  • 6.3.4 Hard-iron calibration for magnetometer
  • 6.3.5 Coordinate frame alignment (CFA) for WMS before experiments
  • 6.4 Experimental method
  • 6.4.1 Static accuracy test
  • 6.4.2 Dynamic accuracy test
  • 6.4.2.1 Single-axis rotation
  • 6.4.2.2 Multiaxis rotation
  • 6.4.2.3 The effect of magnetic disturbances
  • 6.5 Results and discussion
  • 6.5.1 Static accuracy
  • 6.5.2 Dynamic accuracy
  • 6.5.2.1 Single-axis rotation
  • 6.5.2.2 Multiaxis rotation
  • 6.5.3 The effect of magnetic disturbances
  • 6.6 Conclusion
  • Acknowledgment
  • References

Inspec keywords: patient monitoring; position control; sensors; image motion analysis; wearable computers; calibration; DC motors; motion measurement; body sensor networks

Other keywords: microelectromechanical system technologies; wearable 3d motion sensors; position estimation; accurate motion analysis; proper WMSs; increasingly significant role; orientation estimation; equipped electrical slip rings; dynamic accuracy test; static accuracy test; calibration platform; presented evaluation platform; exoskeletons; wearable motion sensors; motion detection

Subjects: Optical, image and video signal processing; Sensing devices and transducers; Computer vision and image processing techniques; Measurement standards and calibration; Spatial variables measurement

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