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JIRS
2006

Inverse Kinematics of Human Arm Based on Multisensor Data Integration

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Inverse Kinematics of Human Arm Based on Multisensor Data Integration
The paper considers a technique for computation of the inverse kinematic model of the human arm. The approach is based on measurements of the hand position and orientation as well as acceleration and angular rate of the upper arm segment. A quaternion description of orientation is used to avoid singularities in representations with Euler angles. A Kalman filter is designed to integrate sensory data from three different types of sensors. The algorithm enables estimation of human arm posture, which can be used in trajectory planning for rehabilitation robots, evaluation of motion of patients with movement disorders, and generation of virtual reality environments. Key words Kalman filter
Matjaz Mihelj
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2006
Where JIRS
Authors Matjaz Mihelj
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