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Inertial Sensor Error Reduction through Calibration and Sensor Fusion
This paper presents the comparison between cooperative and local Kalman Filters (KF) for estimating the absolute segment angle, under two calibration conditions. A simplified calibration, that can be replicated in most laboratories; and a complex calibration, similar to that applied by commercial ve...
Autores principales: | , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2016
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4801611/ https://www.ncbi.nlm.nih.gov/pubmed/26901198 http://dx.doi.org/10.3390/s16020235 |
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author | Lambrecht, Stefan Nogueira, Samuel L. Bortole, Magdo Siqueira, Adriano A. G. Terra, Marco H. Rocon, Eduardo Pons, José L. |
author_facet | Lambrecht, Stefan Nogueira, Samuel L. Bortole, Magdo Siqueira, Adriano A. G. Terra, Marco H. Rocon, Eduardo Pons, José L. |
author_sort | Lambrecht, Stefan |
collection | PubMed |
description | This paper presents the comparison between cooperative and local Kalman Filters (KF) for estimating the absolute segment angle, under two calibration conditions. A simplified calibration, that can be replicated in most laboratories; and a complex calibration, similar to that applied by commercial vendors. The cooperative filters use information from either all inertial sensors attached to the body, Matricial KF; or use information from the inertial sensors and the potentiometers of an exoskeleton, Markovian KF. A one minute walking trial of a subject walking with a 6-DoF exoskeleton was used to assess the absolute segment angle of the trunk, thigh, shank, and foot. The results indicate that regardless of the segment and filter applied, the more complex calibration always results in a significantly better performance compared to the simplified calibration. The interaction between filter and calibration suggests that when the quality of the calibration is unknown the Markovian KF is recommended. Applying the complex calibration, the Matricial and Markovian KF perform similarly, with average RMSE below 1.22 degrees. Cooperative KFs perform better or at least equally good as Local KF, we therefore recommend to use cooperative KFs instead of local KFs for control or analysis of walking. |
format | Online Article Text |
id | pubmed-4801611 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2016 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-48016112016-03-25 Inertial Sensor Error Reduction through Calibration and Sensor Fusion Lambrecht, Stefan Nogueira, Samuel L. Bortole, Magdo Siqueira, Adriano A. G. Terra, Marco H. Rocon, Eduardo Pons, José L. Sensors (Basel) Article This paper presents the comparison between cooperative and local Kalman Filters (KF) for estimating the absolute segment angle, under two calibration conditions. A simplified calibration, that can be replicated in most laboratories; and a complex calibration, similar to that applied by commercial vendors. The cooperative filters use information from either all inertial sensors attached to the body, Matricial KF; or use information from the inertial sensors and the potentiometers of an exoskeleton, Markovian KF. A one minute walking trial of a subject walking with a 6-DoF exoskeleton was used to assess the absolute segment angle of the trunk, thigh, shank, and foot. The results indicate that regardless of the segment and filter applied, the more complex calibration always results in a significantly better performance compared to the simplified calibration. The interaction between filter and calibration suggests that when the quality of the calibration is unknown the Markovian KF is recommended. Applying the complex calibration, the Matricial and Markovian KF perform similarly, with average RMSE below 1.22 degrees. Cooperative KFs perform better or at least equally good as Local KF, we therefore recommend to use cooperative KFs instead of local KFs for control or analysis of walking. MDPI 2016-02-17 /pmc/articles/PMC4801611/ /pubmed/26901198 http://dx.doi.org/10.3390/s16020235 Text en © 2016 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons by Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Lambrecht, Stefan Nogueira, Samuel L. Bortole, Magdo Siqueira, Adriano A. G. Terra, Marco H. Rocon, Eduardo Pons, José L. Inertial Sensor Error Reduction through Calibration and Sensor Fusion |
title | Inertial Sensor Error Reduction through Calibration and Sensor Fusion |
title_full | Inertial Sensor Error Reduction through Calibration and Sensor Fusion |
title_fullStr | Inertial Sensor Error Reduction through Calibration and Sensor Fusion |
title_full_unstemmed | Inertial Sensor Error Reduction through Calibration and Sensor Fusion |
title_short | Inertial Sensor Error Reduction through Calibration and Sensor Fusion |
title_sort | inertial sensor error reduction through calibration and sensor fusion |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4801611/ https://www.ncbi.nlm.nih.gov/pubmed/26901198 http://dx.doi.org/10.3390/s16020235 |
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