An Open-Source and Wearable System for Measuring 3D Human Motion in Real-Time.
An Open-Source and Wearable System for Measuring 3D Human Motion in Real-Time.
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DOI：
10.1109/tbme.2021.3103201
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发表时间：
2022-03
期刊：
影响因子：
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通讯作者：
Delp SL
中科院分区：
文献类型：
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作者：
Slade P;Habib A;Hicks JL;Delp SL
分析人体运动对于诊断运动障碍和指导骨关节炎、中风和帕金森病等疾病的康复至关重要。光学运动捕捉系统是用于估计运动学的标准，但是设备昂贵并且需要预定义的空间。虽然可穿戴传感器系统可以在任何环境中估计运动学，但现有系统通常不如光学运动捕获准确。许多可穿戴传感器系统需要靠近计算机并使用专有软件，限制了实验的可重复性。在这里，我们提出了OpenSenseRT，一个开源和可穿戴系统，估计上，下肢运动学在真实的时间，通过使用惯性测量单元和便携式微控制器。我们将OpenSenseRT系统与光学运动捕捉进行了比较，发现在3分钟的步行过程中，5个下肢关节角度的平均RMSE为4.4度，在Fugl-Meyer任务中，8个上肢关节角度的平均RMSE为5.6度。开源软件和硬件是可扩展的，可以跟踪1到14个身体部位，每个部位一个传感器。肌肉骨骼模型和反向运动学求解器实时估计Kinetics。计算频率取决于跟踪的片段的数量，但对于许多感兴趣的任务的实时测量是足够的;例如，系统可以以30 Hz实时跟踪7个片段。该系统使用现成的部件，成本约为100美元，每个跟踪段加20美元。OpenSenseRT系统经过光学运动捕捉验证，成本低，易于复制，能够在诊所，家庭和自由生活环境中进行运动分析。
Analyzing human motion is essential for diagnosing movement disorders and guiding rehabilitation for conditions like osteoarthritis, stroke, and Parkinson′s disease. Optical motion capture systems are the standard for estimating kinematics, but the equipment is expensive and requires a predefined space. While wearable sensor systems can estimate kinematics in any environment, existing systems are generally less accurate than optical motion capture. Many wearable sensor systems require a computer in close proximity and use proprietary software, limiting experimental reproducibility. Here, we present OpenSenseRT, an open-source and wearable system that estimates upper and lower extremity kinematics in real time by using inertial measurement units and a portable microcontroller. We compared the OpenSenseRT system to optical motion capture and found an average RMSE of 4.4 degrees across 5 lower-limb joint angles during three minutes of walking and an average RMSE of 5.6 degrees across 8 upper extremity joint angles during a Fugl-Meyer task. The open-source software and hardware are scalable, tracking 1 to 14 body segments, with one sensor per segment. A musculoskeletal model and inverse kinematics solver estimate Kinematics in real-time. The computation frequency depends on the number of tracked segments, but is sufficient for real-time measurement for many tasks of interest; for example, the system can track 7 segments at 30 Hz in real-time. The system uses off-the-shelf parts costing approximately $100 USD plus $20 for each tracked segment. The OpenSenseRT system is validated against optical motion capture, low-cost, and simple to replicate, enabling movement analysis in clinics, homes, and free-living settings.