Angle Measurements during 2D and 3D Movements of a Rigid Body Model of Lower Limb - Comparison between Integral-based and Quaternion-based Methods

Takashi Watanabe, Kento Ohashi

Abstract

Angle measurement system using inertial sensors was developed by our research group, in which lower limb angles were calculated based on the integral of angular velocity using Kalman filter. The angle calculation method was shown to be practical in measurement of angles in the sagittal plane during gait of healthy subjects. In this paper, in order to realize practical measurements of 3 dimensional (3D) movements with inertial sensors, the integral-based and the quaternion-based methods were tested in measurement of 2D movements in the sagittal plane and 3D movements of rigid body models of lower limb. The tested three calculation methods, extended integral-based method, quaternion-based method proposed in this study and simplified previous quaternion-based method, were suggested to measure the 2D movements with high measurement accuracy. It was also suggested that there were no large difference in measurement of 2D and 3D movements between 3 methods. Visualization by stick figure animation of circumduction gait simulated by a healthy subject also suggested that the angle calculation methods can be useful. It is expected to improve measurement accuracies of 3D movements to those of 2D movements.

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Paper Citation


in Harvard Style

Watanabe T. and Ohashi K. (2014). Angle Measurements during 2D and 3D Movements of a Rigid Body Model of Lower Limb - Comparison between Integral-based and Quaternion-based Methods . In Proceedings of the International Conference on Bio-inspired Systems and Signal Processing - Volume 1: BIOSIGNALS, (BIOSTEC 2014) ISBN 978-989-758-011-6, pages 35-44. DOI: 10.5220/0004793600350044


in Bibtex Style

@conference{biosignals14,
author={Takashi Watanabe and Kento Ohashi},
title={Angle Measurements during 2D and 3D Movements of a Rigid Body Model of Lower Limb - Comparison between Integral-based and Quaternion-based Methods},
booktitle={Proceedings of the International Conference on Bio-inspired Systems and Signal Processing - Volume 1: BIOSIGNALS, (BIOSTEC 2014)},
year={2014},
pages={35-44},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004793600350044},
isbn={978-989-758-011-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Bio-inspired Systems and Signal Processing - Volume 1: BIOSIGNALS, (BIOSTEC 2014)
TI - Angle Measurements during 2D and 3D Movements of a Rigid Body Model of Lower Limb - Comparison between Integral-based and Quaternion-based Methods
SN - 978-989-758-011-6
AU - Watanabe T.
AU - Ohashi K.
PY - 2014
SP - 35
EP - 44
DO - 10.5220/0004793600350044