Upper body motion tracking with inertial sensors

We introduce a motion tracking method of arbitrary human upper body motion. Low cost wearable inertial sensors are employed in our approach to track the upper body movement in 3D space and in real time. We first establish a kinematic chain of a human upper body consisting of a trunk and two limbs. T...

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Published in2010 IEEE International Conference on Robotics and Biomimetics pp. 1746 - 1751
Main Authors Yujin Jung, Donghoon Kang, Jinwook Kim
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2010
Subjects
Humans
inertial sensors
Joints
Kinematics
motion capture
motion tracking
Radar tracking
Sensors
Torso
Tracking
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ISBN9781424493197
1424493196
DOI10.1109/ROBIO.2010.5723595

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Abstract We introduce a motion tracking method of arbitrary human upper body motion. Low cost wearable inertial sensors are employed in our approach to track the upper body movement in 3D space and in real time. We first establish a kinematic chain of a human upper body consisting of a trunk and two limbs. Then joint variables are computed for given rotation matrices of body segments which are measured using 6 inertial measurement units. For this purpose, we solve a reduced form of inverse kinematics in the Lie group setting. To compare efficiency and accuracy of our system with the commercial marker based optical tracking system, Hawk Digital Real Time System, the upper body motion experiment was performed using the proposed algorithm.
AbstractList We introduce a motion tracking method of arbitrary human upper body motion. Low cost wearable inertial sensors are employed in our approach to track the upper body movement in 3D space and in real time. We first establish a kinematic chain of a human upper body consisting of a trunk and two limbs. Then joint variables are computed for given rotation matrices of body segments which are measured using 6 inertial measurement units. For this purpose, we solve a reduced form of inverse kinematics in the Lie group setting. To compare efficiency and accuracy of our system with the commercial marker based optical tracking system, Hawk Digital Real Time System, the upper body motion experiment was performed using the proposed algorithm.
Author Yujin Jung
Donghoon Kang
Jinwook Kim
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  surname: Jinwook Kim
  fullname: Jinwook Kim
  email: jwkim@imrc.kist.re.kr
  organization: Korea Inst. of Sci. & Technol., Seoul, South Korea
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Snippet We introduce a motion tracking method of arbitrary human upper body motion. Low cost wearable inertial sensors are employed in our approach to track the upper...
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StartPage 1746
SubjectTerms Humans
inertial sensors
Joints
Kinematics
motion capture
motion tracking
Radar tracking
Sensors
Torso
Tracking
Title Upper body motion tracking with inertial sensors
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