A Real-time Motion Tracking Wireless System for Upper Limb Exosuit Based on Inertial Measurement Units and Flex Sensors

被引：4
|
作者：
Pastor, S. S. [1 ]
Rivera, C. T. [1 ]
Aviles, O. F. [1 ]
Mauledoux, M. F. [1 ]
机构：
[1] Mil Nueva Granada Univ, Mechatron Engn Program, Fac Engn, Bogota, Colombia
来源：
INTERNATIONAL JOURNAL OF ENGINEERING | 2019年 / 32卷 / 06期
关键词：
Motion Tracking; Wearable Sensors; Upper Limb Exosuit;
D O I：
10.5829/ije.2019.32.06c.04
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper puts forward a real-time angular tracking (motion capture) system for a low cost upper limb exosuit based on sensor fusion; which is integrated by an elastic sleeve-mitten, two inertial measurement units (IMU), two flex sensors and a wireless communication system. The device can accurately detect the angular position of the shoulder (flexion-extension, abduction-adduction and internal-external rotation), elbow (flexion-extension and forearm supination-pronation), and wrist (flexion-extension) joints. In addition, the state of the hand (opened-closed). Finaly a PID controller is applied to the exosuit in order to replicate the movements performed by the arm into a 6 DOF robot arm.
引用
收藏
页码：820 / 827
页数：8
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