发明名称 |
Joint angle tracking with inertial sensors |
摘要 |
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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申请公布号 |
US2009204031(A1) |
申请公布日期 |
2009.08.13 |
申请号 |
US20090378486 |
申请日期 |
2009.02.12 |
申请人 |
MCNAMES JAMES NATHAN;EL-GOHARY MAHMOUD;PEARSON SEAN CHRISTOPHER |
发明人 |
MCNAMES JAMES NATHAN;EL-GOHARY MAHMOUD;PEARSON SEAN CHRISTOPHER |
分类号 |
A61B5/11 |
主分类号 |
A61B5/11 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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