Tracking Joint Angles During Whole-Arm Movements Using Electromagnetic Sensors
Tracking Joint Angles During Whole-Arm Movements Using Electromagnetic Sensors
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DOI：
10.1115/1.4045814
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发表时间：
2020-07-01
影响因子：
1.7
通讯作者：
Charles, Steven K.
中科院分区：
文献类型：
--
作者：
Clark, Ryan;Dickinson, Taylor;Charles, Steven K.
电磁（EM）运动跟踪系统适用于许多研究和临床应用，包括整个手臂运动的体内测量。不幸的是，使用EM传感器进行全臂运动体内测量的方法在文献中没有很好的描述，这使得很难进行新的测量，而且几乎不可能在研究之间进行有意义的比较。国际生物力学学会（International Society of Biomechanics， ISB）的建议提供了很好的服务，但由于必要性，它们并没有对所有必需的步骤提供明确的指导或标准化。本文的目的是提供一种综合的方法，使用EM传感器来测量体内的整个手臂运动。我们从过去的研究中选择了与ISB建议相容的方法细节，并适用于使用EM传感器测量整个手臂运动，填补了我们自己过去实验的建议。提出的方法包括定义坐标系统（CSs）和关节角度，放置传感器，执行传感器到身体的校准，从传感器数据计算旋转矩阵，以及从旋转矩阵中提取独特的关节角度。我们介绍了这一过程，包括所有方程，包括左右上肢，具有9或7个自由度（DOF）的模型和两种不同的校准方法。在一个地方为整个过程提供详细的方法，使研究人员能够清楚地定义他们的实验方法，从而促进了研究的可重复性。希望本文将简化使用EM传感器的全臂运动的新研究，并便于研究之间的比较。
Electromagnetic (EM) motion tracking systems are suitable for many research and clinical applications, including in vivo measurements of whole-arm movements. Unfortunately, the methodology for in vivo measurements of whole-arm movements using EM sensors is not well described in the literature, making it difficult to perform new measurements and all but impossible to make meaningful comparisons between studies. The recommendations of the International Society of Biomechanics (ISB) have provided a great service, but by necessity they do not provide clear guidance or standardization on all required steps. The goal of this paper was to provide a comprehensive methodology for using EM sensors to measure whole-arm movements in vivo. We selected methodological details from past studies that were compatible with the ISB recommendations and suitable for measuring whole-arm movements using EM sensors, filling in gaps with recommendations from our own past experiments. The presented methodology includes recommendations for defining coordinate systems (CSs) and joint angles, placing sensors, performing sensor-to-body calibration, calculating rotation matrices from sensor data, and extracting unique joint angles from rotation matrices. We present this process, including all equations, for both the right and left upper limbs, models with nine or seven degrees-of-freedom (DOF), and two different calibration methods. Providing a detailed methodology for the entire process in one location promotes replicability of studies by allowing researchers to clearly define their experimental methods. It is hoped that this paper will simplify new investigations of whole-arm movement using EM sensors and facilitate comparison between studies.