Por favor, use este identificador para citar o enlazar a este item:
http://hdl.handle.net/10261/149167
COMPARTIR / EXPORTAR:
SHARE CORE BASE | |
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE | |
Título: | Inertial Sensor Error Reduction through Calibration and Sensor Fusion |
Autor: | Lambrecht, Stefan CSIC; Nogueira, Samuel L.; Bortole, Magdo CSIC; Siqueira, Adriano A. G.; Terra, Marco H.; Rocón, Eduardo CSIC ORCID; Pons Rovira, José Luis CSIC ORCID | Fecha de publicación: | 17-feb-2016 | Editor: | Multidisciplinary Digital Publishing Institute | Citación: | Sensors 16 (2): 235 (2016) | Resumen: | This paper presents the comparison between cooperative and local Kalman Filters (KF) for estimating the absolute segment angle, under two calibration conditions. A simplified calibration, that can be replicated in most laboratories; and a complex calibration, similar to that applied by commercial vendors. The cooperative filters use information from either all inertial sensors attached to the body, Matricial KF; or use information from the inertial sensors and the potentiometers of an exoskeleton, Markovian KF. A one minute walking trial of a subject walking with a 6-DoF exoskeleton was used to assess the absolute segment angle of the trunk, thigh, shank, and foot. The results indicate that regardless of the segment and filter applied, the more complex calibration always results in a significantly better performance compared to the simplified calibration. The interaction between filter and calibration suggests that when the quality of the calibration is unknown the Markovian KF is recommended. Applying the complex calibration, the Matricial and Markovian KF perform similarly, with average RMSE below 1.22 degrees. Cooperative KFs perform better or at least equally good as Local KF, we therefore recommend to use cooperative KFs instead of local KFs for control or analysis of walking. | Versión del editor: | https://doi.org/10.3390/s16020235 | URI: | http://hdl.handle.net/10261/149167 | DOI: | 10.3390/s16020235 | Identificadores: | doi: 10.3390/s16020235 |
Aparece en las colecciones: | (IC) Artículos (CAR) Artículos |
Ficheros en este ítem:
Fichero | Descripción | Tamaño | Formato | |
---|---|---|---|---|
sensors-16-00235.pdf | 9,04 MB | Adobe PDF | Visualizar/Abrir |
CORE Recommender
PubMed Central
Citations
4
checked on 21-abr-2024
SCOPUSTM
Citations
16
checked on 15-abr-2024
WEB OF SCIENCETM
Citations
12
checked on 28-feb-2024
Page view(s)
258
checked on 21-abr-2024
Download(s)
418
checked on 21-abr-2024