Joint angle tracking with inertial sensors
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United States of America Patent
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Mar 21, 2017
Grant Date -
Aug 13, 2009
app pub date -
Feb 12, 2009
filing date -
Feb 12, 2008
priority date (Note) -
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Abstract
A method for estimating joint angles of a multi-segment limb from inertial sensor data accurately estimates and tracks the orientations of multiple segments of the limb as a function of time using data from a single inertial measurement unit worn at the distal end of the limb. Estimated joint angles are computed from measured inertial data as a function of time in a single step using a nonlinear state space estimator. The estimator preferably includes a tracking filter such as an unscented Kalman filter or particle filter. The nonlinear state space estimator incorporates state space evolution equations based on a kinematic model of the multi-segment limb.
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