A wearable, self-calibrating, wireless sensor network for body motion processing

Yong Lim Kwang, Francis Young Koon Goh, Wei Dong, Doang Nguyen Kim, I. Ming Chen, Huat Yeo Song, Henry Been Lirn Duh, Gon Kim Chung

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

28 Citations (Scopus)

Abstract

A novel self-calibrating sensing technology using miniature linear encoders and Inertial/magnetic Measurement Unit (IMU) provides the accuracy, fast response and robustness required by many body motion processing applications. Our sensor unit consists of an accelerometer, a 3-axis magnetic sensor, 2 gyroscopes and a miniature linear encoder. The fusion of data from the sensors is accomplished by extracting the gravity related term from the accelerometer and consistently calibrating the gyroscopes and linear encoder when the sensor unit is under static conditions. Using the fused sensors, we developed a complete motion processing system that consists of a gateway where the human kinematics modeling is embedded. A time divided multiple access wireless architecture is adopted to synchronize the sensor network at 100Hz. Experimental results show that the combination of the IMU and linear encoder produces a low RMS error of 3.5° and correlation coefficient of 99.01%. A video showing the capture a performer's upper body motion is also realized.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages1017-1022
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 19 May 200823 May 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/TerritoryUnited States
CityPasadena, CA
Period19/05/0823/05/08

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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