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Hand pose estimation by fusion of inertial and magnetic sensing aided by a permanent magnet

Kortier, Henk; Antonsson, Jacob LU ; Schepers, Martin; Gustafsson, Fredrik and Veltink, Peter (2015) In IEEE Transactions on Neural Systems and Rehabilitation Engineering 23(5). p.796-806
Abstract
Tracking human body motions using inertial sensors has become a well-accepted method in ambulatory applications since the subject is not confined to a lab-bounded volume. However, a major drawback is the inability to estimate relative body positions over time because inertial sensor information only allows position tracking through strapdown integration, but doesn't provide any information about relative positions. In addition, strapdown integration inherently results in drift of the estimated position over time. We propose a novel method in which a permanent magnet combined with 3D magnetometers and 3D inertial sensors are used to estimate the global trunk orientation and relative pose of the hand with respect to the trunk. An Extended... (More)
Tracking human body motions using inertial sensors has become a well-accepted method in ambulatory applications since the subject is not confined to a lab-bounded volume. However, a major drawback is the inability to estimate relative body positions over time because inertial sensor information only allows position tracking through strapdown integration, but doesn't provide any information about relative positions. In addition, strapdown integration inherently results in drift of the estimated position over time. We propose a novel method in which a permanent magnet combined with 3D magnetometers and 3D inertial sensors are used to estimate the global trunk orientation and relative pose of the hand with respect to the trunk. An Extended Kalman Filter is presented to fuse estimates obtained from inertial sensors with magnetic updates such that the position and orientation between the human hand and trunk as well as the global trunk orientation can be estimated robustly. This has been demonstrated in multiple experiments in which various hand tasks were performed. The most complex task in which simultaneous movements of both trunk and hand were performed resulted in an average rms position difference with an optical reference system of 19:72:2 mm whereas the relative trunk-hand and global trunk orientation error was 2:3 0:9 and 8:68:7 deg respectively. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Acceleration, Accelerometers, Magnetic sensors, Magnetometers, Permanent magnets, Three-dimensional displays
in
IEEE Transactions on Neural Systems and Rehabilitation Engineering
volume
23
issue
5
pages
796 - 806
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • wos:000361317000008
  • scopus:84946906726
ISSN
1534-4320
DOI
10.1109/TNSRE.2014.2357579
language
English
LU publication?
yes
id
b07a670d-a43c-477a-8941-e2de65aba20a (old id 4698619)
date added to LUP
2014-11-09 17:51:03
date last changed
2017-10-01 04:08:10
@article{b07a670d-a43c-477a-8941-e2de65aba20a,
  abstract     = {Tracking human body motions using inertial sensors has become a well-accepted method in ambulatory applications since the subject is not confined to a lab-bounded volume. However, a major drawback is the inability to estimate relative body positions over time because inertial sensor information only allows position tracking through strapdown integration, but doesn't provide any information about relative positions. In addition, strapdown integration inherently results in drift of the estimated position over time. We propose a novel method in which a permanent magnet combined with 3D magnetometers and 3D inertial sensors are used to estimate the global trunk orientation and relative pose of the hand with respect to the trunk. An Extended Kalman Filter is presented to fuse estimates obtained from inertial sensors with magnetic updates such that the position and orientation between the human hand and trunk as well as the global trunk orientation can be estimated robustly. This has been demonstrated in multiple experiments in which various hand tasks were performed. The most complex task in which simultaneous movements of both trunk and hand were performed resulted in an average rms position difference with an optical reference system of 19:72:2 mm whereas the relative trunk-hand and global trunk orientation error was 2:3 0:9 and 8:68:7 deg respectively.},
  author       = {Kortier, Henk and Antonsson, Jacob and Schepers, Martin and Gustafsson, Fredrik and Veltink, Peter},
  issn         = {1534-4320},
  keyword      = {Acceleration,Accelerometers,Magnetic sensors,Magnetometers,Permanent magnets,Three-dimensional displays},
  language     = {eng},
  number       = {5},
  pages        = {796--806},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  series       = {IEEE Transactions on Neural Systems and Rehabilitation Engineering},
  title        = {Hand pose estimation by fusion of inertial and magnetic sensing aided by a permanent magnet},
  url          = {http://dx.doi.org/10.1109/TNSRE.2014.2357579},
  volume       = {23},
  year         = {2015},
}