2014, Number 3
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Rev Mex Ing Biomed 2014; 35 (3)
Instantaneous position and orientation of the body segments as an arbitrary object in 3D space by merging gyroscope and accelerometer information
Barraza-Madrigal JA, Muñoz-Guerrero R, Leija-Salas L, Ranta R
Language: English
References: 27
Page: 241-252
PDF size: 1379.08 Kb.
ABSTRACT
This work presents an algorithm to determine instantaneous orientation
of an object in 3D space. The orientation was determined by using
a Direction Cosine Matrix (DCM), performed by the combination
of three consecutive rotations, around each to the main axes of the
evaluated system, using quaternions. An inertial measurement unit
(IMU), consisting of 3 axes gyroscope and 3 axes accelerometer was
used in order to establish 2 coordinate systems; The first one describes
object movement, by using gyroscope as a main source of information,
relating the angular rate of change along time. The second defines
a coordinate reference system, relating the acceleration of gravity to
an inertial direction vector. A proportional integral (PI) feedback
controller was used, which includes sensors information, eliminating
offset, cancelling drift and improving the accuracy of the orientation.
The proposed algorithm can be used for assessing both the position and
orientation of the body segments which is very important in orthopedic,
traumatology and rheumatology important for diagnosis, prognostic,
therapeutic, research and as well as the design and fabrication of
measuring devices used in surgical instrumentation, prostheses and
ortheses. It is important to note that the developed system opens
the opportunities to be implemented on ambulatory joint evaluation
through a wearable system, due to the dimensions and requirements of
the sensors.
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