TY - GEN
T1 - Development of an ultra-miniaturized inertial measurement unit WB-3 for human body motion tracking
AU - Lin, Zhuohua
AU - Zecca, Massimiliano
AU - Sessa, Salvatore
AU - Bartolomeo, Luca
AU - Ishii, Hiroyuki
AU - Itoh, Kazuko
AU - Takanishi, Atsuo
PY - 2010/12/1
Y1 - 2010/12/1
N2 - Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human-computer interaction applications. This paper presents an ultra-miniaturized inertial measurement unit (IMU) named WB-3 for real-time attitude estimation of human limb segments. The WB-3 IMU is provided with a 32-bit microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer). The quaternion-based Extended Kalman Filter (EKF) was implemented for the sensor fusion to retrieve the attitude of the human segment. An upper body motion capture system with 12 WB-3 IMUs was elaborated for tracking human movements in real time scenarios.
AB - Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human-computer interaction applications. This paper presents an ultra-miniaturized inertial measurement unit (IMU) named WB-3 for real-time attitude estimation of human limb segments. The WB-3 IMU is provided with a 32-bit microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer). The quaternion-based Extended Kalman Filter (EKF) was implemented for the sensor fusion to retrieve the attitude of the human segment. An upper body motion capture system with 12 WB-3 IMUs was elaborated for tracking human movements in real time scenarios.
UR - http://www.scopus.com/inward/record.url?scp=79952786884&partnerID=8YFLogxK
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U2 - 10.1109/SII.2010.5708361
DO - 10.1109/SII.2010.5708361
M3 - Conference contribution
AN - SCOPUS:79952786884
SN - 9781424493159
T3 - 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
SP - 414
EP - 419
BT - 2010 IEEE/SICE International Symposium on System Integration
T2 - 3rd International Symposium on System Integration, SII 2010
Y2 - 21 December 2010 through 22 December 2010
ER -