Modular Wireless Inertial Motion Capture System with Self-Calibration

Schäfer N, Latsch B, Seiler J, Hammen LH, Stein L, Herbst F, Beckerle P, Kupnik M (2024)

Publication Type: Conference contribution

Publication year: 2024

Journal

IEEE Sensors IEEE

Publisher: Institute of Electrical and Electronics Engineers Inc.

Conference Proceedings Title: Proceedings of IEEE Sensors

Event location: Kobe JP

ISBN: 9798350363517

DOI: 10.1109/SENSORS60989.2024.10784517

Abstract

Wearable inertial motion capture systems enable movement analysis outside the laboratory, thereby promising valuable data collection in natural environments. We present an open-source motion capture system consisting of a variable number of wireless IMU sensor modules and a modular software framework providing OpenSim compatibility. System calibration is achieved by automatic sensor-to-segment alignment (S2SA) using a weighted least squares approach, enabling self-calibration based on arbitrary movements and ongoing recalibration. The S2SA approach is evaluated in a simulation and a proof-of-concept walking experiment with a human participant. Both in the simulation and in the experiment, all initializations converge, demonstrating the robustness of the automatic S2SA approach. Position and orientation deviations are below 0.09 m and 1.280, respectively. Lower limb joint angles exhibit root mean square errors ranging from 2.1 0 to 7.20 compared to a state-of-the-art S2SA method, while Pearson correlation coefficients are larger than 0.91 for all joints. Altogether, the results demonstrate the potential of self-calibration based on arbitrary movements, thereby enhancing the motion capture system's usability and paving the way towards clinical applicability.

Authors with CRIS profile

Philipp Beckerle Lehrstuhl für Autonome Systeme und Mechatronik

Involved external institutions

Technische Universität Darmstadt DE Germany (DE)

How to cite

APA:

Schäfer, N., Latsch, B., Seiler, J., Hammen, L.H., Stein, L., Herbst, F.,... Kupnik, M. (2024). Modular Wireless Inertial Motion Capture System with Self-Calibration. In Proceedings of IEEE Sensors. Kobe, JP: Institute of Electrical and Electronics Engineers Inc..

MLA:

Schäfer, Niklas, et al. "Modular Wireless Inertial Motion Capture System with Self-Calibration." Proceedings of the 2024 IEEE Sensors, SENSORS 2024, Kobe Institute of Electrical and Electronics Engineers Inc., 2024.

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