Towards Miniaturization of a MEMS-Based Wearable Motion Capture System
Towards Miniaturization of a MEMS-Based Wearable Motion Capture System
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DOI：
10.1109/tie.2011.2148671
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发表时间：
2011-08-01
影响因子：
7.7
通讯作者：
Sessa, Salvatore
中科院分区：
文献类型：
--
作者：
Brigante, Carmen M. N.;Abbate, Nunzio;Sessa, Salvatore
本文提出了一种模块化架构，用于开发用于实时人体动作捕捉的可穿戴系统。该系统基于分布在人体上的智能惯性测量单元（IMU）网络。每个模块都配有 32 位 RISC 微控制器 (MCU) 和小型化 MEMS 传感器：三轴加速度计、三轴陀螺仪和三轴磁力计。 MCU 从传感器收集测量值并实施传感器融合算法，这是一种基于四元数的扩展卡尔曼滤波器，用于估计姿态和陀螺仪偏差。所提出的 IMU 的设计旨在克服商业解决方案的问题，旨在提高性能并减小尺寸和重量。这样，它可以很容易地嵌入运动服中进行全身运动重建，大大提高了穿着性和舒适性。此外，主要成果将通过所提出的 IMU 和一些商业平台之间的性能比较来展示。
This paper presents a modular architecture to develop a wearable system for real-time human motion capture. The system is based on a network of smart inertial measurement units (IMUs) distributed on the human body. Each of these modules is provided with a 32-bit RISC microcontroller (MCU) and miniaturized MEMS sensors: three-axis accelerometer, three-axis gyroscopes, and three-axis magnetometer. The MCU collects measurements from the sensors and implement the sensor fusion algorithm, a quaternion-based extended Kalman filter to estimate the attitude and the gyroscope biases. The design of the proposed IMU, in order to overcome the problems of the commercial solution, aims to improve performance and to reduce size and weight. In this way, it can be easily embedded in a tracksuit for total body motion reconstruction with considerable enhancement of the wearability and comfort. Furthermore, the main achievements will be presented with a performance comparison between the proposed IMU and some commercial platforms.