Sensor fusion for estimating joint kinematics and kinetics of biomechanical systems: Validation using a robotic manipulator

The study of human motion consists of the analysis of kinematics, dealing with joint angles, velocities and accelerations, and kinetics, which deals with joint torques and interaction forces. Traditionally, kinematics and kinetics are estimated from optical marker data and sometimes measured interaction forces. Inertial measurement units (IMUs)...

In-vitro validation of inertial-sensor-to-bone alignment

A major shortcoming in kinematic estimation using skin-attached inertial sensors is the alignment of sensor-embedded and segment-embedded coordinate systems. Only a correct alignment results in clinically relevant kinematics. Model-based inertial-sensor-to-bone alignment methods relate inertial sensor measurements with a model of the joint....

A New Quantitative Analysis for Prostheses Research and Evaluation: A Sensor Fusion Approach

Problem: Due to high rejection rates regarding prostheses’ use, the assessment of the amputee’s use of the prosthesis has become more critical. Today’s prosthesis research is limited to assessing a users’ performance to perform tasks in a controlled environment. Therefore, these studies cannot wholly assess how the prosthesis is used in the...