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Lu Bai
Ulster University
Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Library & Information Science

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3D Orientation Estimation Using Inertial Sensors Lu Bai
Journal of Electrical Technology UMY Vol 6, No 1 (2022): June
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jet.v6i1.14638

Abstract

Recently, inertial sensors have been widely used in the measurement of 3D orientations because of their small size and relative low cost. One of the useful applications in the area of Neurorehabilitation is to assess the upper limb motion for patients who are under neurorehabilitation. In this paper, the computation of the 3D orientation is discussed utilising the outputs from accelerometers, gyroscopes and magnetometers. Different 3D orientation representations are discussed to give recommendations for different use scenarios. Based on the results form the 3D orientation, 2D and 3D position tracking techniques are also calculated by considering the joint links and kinematics constraints from the upper limb segments. The results showed that the performance using complementary filter can make good estimation of the orientation. 
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