Kalman filtering of accelerometer and electromyography data in pathological tremor sensing system

Ferdinand Widjaja 1 C.Y. Shee 1 W. T. Latt 1 W.L. Au 1 Philippe Poignet 2 Wei Tech Ang 1
2 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Currently there is a lack of objective clinical diagnosis and classification of tremor is difficult when it is subtle. Thus in previous work, a sensing system has been developed to quantify pathological tremor in human upper limb. In this paper, a Kalman filter algorithm to fuse information from accelerometers and surface electromyography is proposed. As the ground truth, an optical motion tracking system will be utilized. Then two sensor fusion algorithms based on Kalman filter are formulated to estimate the joint angle of the limb from the reading of accelerometers and surface EMG. Initial results using tremor data from two Parkinson's disease patients show promising future in this sensor fusion. The sensing system and the algorithms proposed are useful for actively compensating the tremor and helping the clinicians in tremor diagnostics.
Keywords : Tremor
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, May 2008, Pasadena, CA, United States. IEEE International Conference on Robotics and Automation, pp.3250-3255, 2008, 〈http://ewh.ieee.org/soc/ras/conf/FullySponsored/ICRA/2008/index.html〉. 〈10.1109/ROBOT.2008.4543706〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00196066
Contributeur : Philippe Poignet <>
Soumis le : mercredi 12 décembre 2007 - 10:27:45
Dernière modification le : jeudi 24 mai 2018 - 15:59:23

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Ferdinand Widjaja, C.Y. Shee, W. T. Latt, W.L. Au, Philippe Poignet, et al.. Kalman filtering of accelerometer and electromyography data in pathological tremor sensing system. ICRA: International Conference on Robotics and Automation, May 2008, Pasadena, CA, United States. IEEE International Conference on Robotics and Automation, pp.3250-3255, 2008, 〈http://ewh.ieee.org/soc/ras/conf/FullySponsored/ICRA/2008/index.html〉. 〈10.1109/ROBOT.2008.4543706〉. 〈lirmm-00196066〉

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