Cargando…
Estimating the Instantaneous Screw Axis and the Screw Axis Invariant Descriptor of Motion by Means of Inertial Sensors: An Experimental Study with a Mechanical Hinge Joint and Comparison to the Optoelectronic System
The motion of a rigid body can be represented by the instantaneous screw axis (ISA, also known as the helical axis). Recently, an invariant representation of motion based on the ISA, namely, the screw axis invariant descriptor (SAID), was proposed in the literature. The SAID consists of six scalar f...
Autores principales: | , , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2019
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6982850/ https://www.ncbi.nlm.nih.gov/pubmed/31861798 http://dx.doi.org/10.3390/s20010049 |
_version_ | 1783491383887134720 |
---|---|
author | Ancillao, Andrea Vochten, Maxim Aertbeliën, Erwin Decré, Wilm De Schutter, Joris |
author_facet | Ancillao, Andrea Vochten, Maxim Aertbeliën, Erwin Decré, Wilm De Schutter, Joris |
author_sort | Ancillao, Andrea |
collection | PubMed |
description | The motion of a rigid body can be represented by the instantaneous screw axis (ISA, also known as the helical axis). Recently, an invariant representation of motion based on the ISA, namely, the screw axis invariant descriptor (SAID), was proposed in the literature. The SAID consists of six scalar features that are independent from the coordinate system chosen to represent the motion. This method proved its usefulness in robotics; however, a high sensitivity to noise was observed. This paper aims to explore the performance of inertial sensors for the estimation of the ISA and the SAID for a simple experimental setup based on a hinge joint. The free swing motion of the mechanical hinge was concurrently recorded by a marker-based optoelectronic system (OS) and two magnetic inertial measurement units (MIMUs). The ISA estimated by the MIMU was more precise, while the OS was more accurate. The mean angular error was ≈2.2° for the OS and was ≈4.4° for the MIMU, while the mean standard deviation was ≈2.3° for the OS and was ≈0.2° for the MIMU. The SAID features based on angular velocity were better estimated by the MIMU, while the features based on translational velocity were better estimated by the OS. Therefore, a combination of both measurements systems is recommended to accurately estimate the complete SAID. |
format | Online Article Text |
id | pubmed-6982850 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2019 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-69828502020-02-06 Estimating the Instantaneous Screw Axis and the Screw Axis Invariant Descriptor of Motion by Means of Inertial Sensors: An Experimental Study with a Mechanical Hinge Joint and Comparison to the Optoelectronic System Ancillao, Andrea Vochten, Maxim Aertbeliën, Erwin Decré, Wilm De Schutter, Joris Sensors (Basel) Article The motion of a rigid body can be represented by the instantaneous screw axis (ISA, also known as the helical axis). Recently, an invariant representation of motion based on the ISA, namely, the screw axis invariant descriptor (SAID), was proposed in the literature. The SAID consists of six scalar features that are independent from the coordinate system chosen to represent the motion. This method proved its usefulness in robotics; however, a high sensitivity to noise was observed. This paper aims to explore the performance of inertial sensors for the estimation of the ISA and the SAID for a simple experimental setup based on a hinge joint. The free swing motion of the mechanical hinge was concurrently recorded by a marker-based optoelectronic system (OS) and two magnetic inertial measurement units (MIMUs). The ISA estimated by the MIMU was more precise, while the OS was more accurate. The mean angular error was ≈2.2° for the OS and was ≈4.4° for the MIMU, while the mean standard deviation was ≈2.3° for the OS and was ≈0.2° for the MIMU. The SAID features based on angular velocity were better estimated by the MIMU, while the features based on translational velocity were better estimated by the OS. Therefore, a combination of both measurements systems is recommended to accurately estimate the complete SAID. MDPI 2019-12-20 /pmc/articles/PMC6982850/ /pubmed/31861798 http://dx.doi.org/10.3390/s20010049 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Ancillao, Andrea Vochten, Maxim Aertbeliën, Erwin Decré, Wilm De Schutter, Joris Estimating the Instantaneous Screw Axis and the Screw Axis Invariant Descriptor of Motion by Means of Inertial Sensors: An Experimental Study with a Mechanical Hinge Joint and Comparison to the Optoelectronic System |
title | Estimating the Instantaneous Screw Axis and the Screw Axis Invariant Descriptor of Motion by Means of Inertial Sensors: An Experimental Study with a Mechanical Hinge Joint and Comparison to the Optoelectronic System |
title_full | Estimating the Instantaneous Screw Axis and the Screw Axis Invariant Descriptor of Motion by Means of Inertial Sensors: An Experimental Study with a Mechanical Hinge Joint and Comparison to the Optoelectronic System |
title_fullStr | Estimating the Instantaneous Screw Axis and the Screw Axis Invariant Descriptor of Motion by Means of Inertial Sensors: An Experimental Study with a Mechanical Hinge Joint and Comparison to the Optoelectronic System |
title_full_unstemmed | Estimating the Instantaneous Screw Axis and the Screw Axis Invariant Descriptor of Motion by Means of Inertial Sensors: An Experimental Study with a Mechanical Hinge Joint and Comparison to the Optoelectronic System |
title_short | Estimating the Instantaneous Screw Axis and the Screw Axis Invariant Descriptor of Motion by Means of Inertial Sensors: An Experimental Study with a Mechanical Hinge Joint and Comparison to the Optoelectronic System |
title_sort | estimating the instantaneous screw axis and the screw axis invariant descriptor of motion by means of inertial sensors: an experimental study with a mechanical hinge joint and comparison to the optoelectronic system |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6982850/ https://www.ncbi.nlm.nih.gov/pubmed/31861798 http://dx.doi.org/10.3390/s20010049 |
work_keys_str_mv | AT ancillaoandrea estimatingtheinstantaneousscrewaxisandthescrewaxisinvariantdescriptorofmotionbymeansofinertialsensorsanexperimentalstudywithamechanicalhingejointandcomparisontotheoptoelectronicsystem AT vochtenmaxim estimatingtheinstantaneousscrewaxisandthescrewaxisinvariantdescriptorofmotionbymeansofinertialsensorsanexperimentalstudywithamechanicalhingejointandcomparisontotheoptoelectronicsystem AT aertbelienerwin estimatingtheinstantaneousscrewaxisandthescrewaxisinvariantdescriptorofmotionbymeansofinertialsensorsanexperimentalstudywithamechanicalhingejointandcomparisontotheoptoelectronicsystem AT decrewilm estimatingtheinstantaneousscrewaxisandthescrewaxisinvariantdescriptorofmotionbymeansofinertialsensorsanexperimentalstudywithamechanicalhingejointandcomparisontotheoptoelectronicsystem AT deschutterjoris estimatingtheinstantaneousscrewaxisandthescrewaxisinvariantdescriptorofmotionbymeansofinertialsensorsanexperimentalstudywithamechanicalhingejointandcomparisontotheoptoelectronicsystem |