Joint Angle Estimation in Rehabilitation with Inertial Sensors and its Integration with Kinect

Antonio Bo 1 Mitsuhiro Hayashibe 2 Philippe Poignet 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : In this paper, we explore the combined use of inertial sensors and the Kinect for applications on rehabilitation robotics and assistive devices. In view of the de ciencies of each individual system, a new method based on Kalman ltering was developed in order to perform online calibration of sensor errors automatically whenever measurements from Kinect are available. The method was evaluated on experiments involving healthy subjects performing multiple DOF tasks.
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Antonio Bo, Mitsuhiro Hayashibe, Philippe Poignet. Joint Angle Estimation in Rehabilitation with Inertial Sensors and its Integration with Kinect. EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.3479-3483, ⟨10.1109/IEMBS.2011.6090940⟩. ⟨lirmm-00623141⟩

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