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Magnetic-free Extended Kalman Filter for upper limb kinematic assessment in Yoga
Summary
This study introduces a magnetic-free algorithm for human motion analysis using inertial units, crucial for accurate indoor tracking in rehabilitation and sports. The developed filter effectively assesses upper limb kinematics without magnetic interference.
Area of Science:
- Biomechanics
- Wearable Technology
- Robotics
Background:
- Human motion analysis is vital for rehabilitation and virtual coaching.
- Magneto-Inertial Measurement Units (MIMUs) are cost-effective but susceptible to magnetic disturbances.
- Inertial Measurement Units (IMUs) offer a magnetic-disturbance-free alternative.
Purpose of the Study:
- To introduce a magnetic-free quaternion-based Extended Kalman filter for upper limb kinematic assessment.
- To enable accurate human motion tracking in indoor environments using IMUs.
Main Methods:
- Developed a magnetic-free quaternion-based Extended Kalman filter.
- Tested the algorithm on five expert yoga trainers performing the sun salutation sequence.
- Validated joint angle estimations against an optoelectronic reference system.
Main Results:
- Achieved Mean Absolute Errors (MAEs) between 2.65° and 6.17°.
- Obtained high Pearson's correlation coefficients, with the lowest mean value of 0.86.
- Demonstrated the algorithm's accuracy and reliability for kinematic reconstruction.
Conclusions:
- The proposed magnetic-free algorithm provides accurate upper limb kinematic assessment.
- This wearable solution is insensitive to magnetic disturbances, ideal for indoor environments.
- Potential applications include rehabilitation and sports analysis where magnetic interference is a concern.
