Estimating three-dimensional orientation of human body parts by inertial/magnetic sensing.
SENSORS 2011;
11:1489-525. [PMID:
22319365 PMCID:
PMC3274035 DOI:
10.3390/s110201489]
[Citation(s) in RCA: 144] [Impact Index Per Article: 11.1] [Reference Citation Analysis] [Abstract] [Key Words] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/15/2010] [Revised: 01/13/2011] [Accepted: 01/15/2011] [Indexed: 11/16/2022]
Abstract
User-worn sensing units composed of inertial and magnetic sensors are becoming increasingly popular in various domains, including biomedical engineering, robotics, virtual reality, where they can also be applied for real-time tracking of the orientation of human body parts in the three-dimensional (3D) space. Although they are a promising choice as wearable sensors under many respects, the inertial and magnetic sensors currently in use offer measuring performance that are critical in order to achieve and maintain accurate 3D-orientation estimates, anytime and anywhere. This paper reviews the main sensor fusion and filtering techniques proposed for accurate inertial/magnetic orientation tracking of human body parts; it also gives useful recipes for their actual implementation.
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