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Drift-Free 3D Orientation and Displacement Estimation for Quasi-Cyclical Movements Using One Inertial Measurement Unit: Application to Running
A Drift-Free 3D Orientation and Displacement estimation method (DFOD) based on a single inertial measurement unit (IMU) is proposed and validated. Typically, body segment orientation and displacement methods rely on a constant- or zero-velocity point to correct for drift. Therefore, they are not eas...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8838725/ https://www.ncbi.nlm.nih.gov/pubmed/35161701 http://dx.doi.org/10.3390/s22030956 |
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author | Zandbergen, Marit A. Reenalda, Jasper van Middelaar, Robbert P. Ferla, Romano I. Buurke, Jaap H. Veltink, Peter H. |
author_facet | Zandbergen, Marit A. Reenalda, Jasper van Middelaar, Robbert P. Ferla, Romano I. Buurke, Jaap H. Veltink, Peter H. |
author_sort | Zandbergen, Marit A. |
collection | PubMed |
description | A Drift-Free 3D Orientation and Displacement estimation method (DFOD) based on a single inertial measurement unit (IMU) is proposed and validated. Typically, body segment orientation and displacement methods rely on a constant- or zero-velocity point to correct for drift. Therefore, they are not easily applicable to more proximal segments than the foot. DFOD uses an alternative single sensor drift reduction strategy based on the quasi-cyclical nature of many human movements. DFOD assumes that the quasi-cyclical movement occurs in a quasi-2D plane and with an approximately constant cycle average velocity. DFOD is independent of a constant- or zero-velocity point, a biomechanical model, Kalman filtering or a magnetometer. DFOD reduces orientation drift by assuming a cyclical movement, and by defining a functional coordinate system with two functional axes. These axes are based on the mean acceleration and rotation axes over multiple complete gait cycles. Using this drift-free orientation estimate, the displacement of the sensor is computed by again assuming a cyclical movement. Drift in displacement is reduced by subtracting the mean value over five gait cycle from the free acceleration, velocity, and displacement. Estimated 3D sensor orientation and displacement for an IMU on the lower leg were validated with an optical motion capture system (OMCS) in four runners during constant velocity treadmill running. Root mean square errors for sensor orientation differences between DFOD and OMCS were 3.1 ± 0.4° (sagittal plane), 5.3 ± 1.1° (frontal plane), and 5.0 ± 2.1° (transversal plane). Sensor displacement differences had a root mean square error of 1.6 ± 0.2 cm (forward axis), 1.7 ± 0.6 cm (mediolateral axis), and 1.6 ± 0.2 cm (vertical axis). Hence, DFOD is a promising 3D drift-free orientation and displacement estimation method based on a single IMU in quasi-cyclical movements with many advantages over current methods. |
format | Online Article Text |
id | pubmed-8838725 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-88387252022-02-13 Drift-Free 3D Orientation and Displacement Estimation for Quasi-Cyclical Movements Using One Inertial Measurement Unit: Application to Running Zandbergen, Marit A. Reenalda, Jasper van Middelaar, Robbert P. Ferla, Romano I. Buurke, Jaap H. Veltink, Peter H. Sensors (Basel) Article A Drift-Free 3D Orientation and Displacement estimation method (DFOD) based on a single inertial measurement unit (IMU) is proposed and validated. Typically, body segment orientation and displacement methods rely on a constant- or zero-velocity point to correct for drift. Therefore, they are not easily applicable to more proximal segments than the foot. DFOD uses an alternative single sensor drift reduction strategy based on the quasi-cyclical nature of many human movements. DFOD assumes that the quasi-cyclical movement occurs in a quasi-2D plane and with an approximately constant cycle average velocity. DFOD is independent of a constant- or zero-velocity point, a biomechanical model, Kalman filtering or a magnetometer. DFOD reduces orientation drift by assuming a cyclical movement, and by defining a functional coordinate system with two functional axes. These axes are based on the mean acceleration and rotation axes over multiple complete gait cycles. Using this drift-free orientation estimate, the displacement of the sensor is computed by again assuming a cyclical movement. Drift in displacement is reduced by subtracting the mean value over five gait cycle from the free acceleration, velocity, and displacement. Estimated 3D sensor orientation and displacement for an IMU on the lower leg were validated with an optical motion capture system (OMCS) in four runners during constant velocity treadmill running. Root mean square errors for sensor orientation differences between DFOD and OMCS were 3.1 ± 0.4° (sagittal plane), 5.3 ± 1.1° (frontal plane), and 5.0 ± 2.1° (transversal plane). Sensor displacement differences had a root mean square error of 1.6 ± 0.2 cm (forward axis), 1.7 ± 0.6 cm (mediolateral axis), and 1.6 ± 0.2 cm (vertical axis). Hence, DFOD is a promising 3D drift-free orientation and displacement estimation method based on a single IMU in quasi-cyclical movements with many advantages over current methods. MDPI 2022-01-26 /pmc/articles/PMC8838725/ /pubmed/35161701 http://dx.doi.org/10.3390/s22030956 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/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 (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Zandbergen, Marit A. Reenalda, Jasper van Middelaar, Robbert P. Ferla, Romano I. Buurke, Jaap H. Veltink, Peter H. Drift-Free 3D Orientation and Displacement Estimation for Quasi-Cyclical Movements Using One Inertial Measurement Unit: Application to Running |
title | Drift-Free 3D Orientation and Displacement Estimation for Quasi-Cyclical Movements Using One Inertial Measurement Unit: Application to Running |
title_full | Drift-Free 3D Orientation and Displacement Estimation for Quasi-Cyclical Movements Using One Inertial Measurement Unit: Application to Running |
title_fullStr | Drift-Free 3D Orientation and Displacement Estimation for Quasi-Cyclical Movements Using One Inertial Measurement Unit: Application to Running |
title_full_unstemmed | Drift-Free 3D Orientation and Displacement Estimation for Quasi-Cyclical Movements Using One Inertial Measurement Unit: Application to Running |
title_short | Drift-Free 3D Orientation and Displacement Estimation for Quasi-Cyclical Movements Using One Inertial Measurement Unit: Application to Running |
title_sort | drift-free 3d orientation and displacement estimation for quasi-cyclical movements using one inertial measurement unit: application to running |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8838725/ https://www.ncbi.nlm.nih.gov/pubmed/35161701 http://dx.doi.org/10.3390/s22030956 |
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