Real-time inverse kinematics for the upper limb: a model-based algorithm using segment orientations

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• 作者：Bence J. Borbély ; Péter Szolgay
• 关键词：Inverse kinematics (IK) ; Inertial measurement unit (IMU) ; Real ; time ; Upper limb ; OpenSim ; Embedded systems ; Wearable
• 刊名：BioMedical Engineering OnLine
• 出版年：2017
• 出版时间：December 2017
• 年：2017
• 卷：16
• 期：1
• 全文大小：2439KB
• 刊物类别：Engineering
• 刊物主题：Biomedical Engineering; Biomaterials; Biotechnology; Biomedical Engineering/Biotechnology;
• 出版者：BioMed Central
• ISSN：1475-925X
• 卷排序：16

文摘

BackgroundModel based analysis of human upper limb movements has key importance in understanding the motor control processes of our nervous system. Various simulation software packages have been developed over the years to perform model based analysis. These packages provide computationally intensive—and therefore off-line—solutions to calculate the anatomical joint angles from motion captured raw measurement data (also referred as inverse kinematics). In addition, recent developments in inertial motion sensing technology show that it may replace large, immobile and expensive optical systems with small, mobile and cheaper solutions in cases when a laboratory-free measurement setup is needed. The objective of the presented work is to extend the workflow of measurement and analysis of human arm movements with an algorithm that allows accurate and real-time estimation of anatomical joint angles for a widely used OpenSim upper limb kinematic model when inertial sensors are used for movement recording.