a robust kalman algorithm to facilitate human-computer interaction for people with cerebral palsy, using a new interface based on inertial sensors一个健壮的卡尔曼滤波算法为脑瘫患者促进人机交互,使用基于惯性传感器的新界面.pdfVIP

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a robust kalman algorithm to facilitate human-computer interaction for people with cerebral palsy, using a new interface based on inertial sensors一个健壮的卡尔曼滤波算法为脑瘫患者促进人机交互,使用基于惯性传感器的新界面.pdf

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a robust kalman algorithm to facilitate human-computer interaction for people with cerebral palsy, using a new interface based on inertial sensors一个健壮的卡尔曼滤波算法为脑瘫患者促进人机交互,使用基于惯性传感器的新界面

Sensors 2012, 12, 3049-3067; doi:10.3390/s120303049 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article A Robust Kalman Algorithm to Facilitate Human-Computer Interaction for People with Cerebral Palsy, Using a New Interface Based on Inertial Sensors Rafael Raya ⋆ , Eduardo Rocon, Juan A. Gallego, Ramón Ceres and Jose L. Pons Bioengineering Group, CSIC, Crta. Campo Real Km 0.2 La Poveda, Arganda del Rey, Madrid 28500, Spain; E-Mails: e.rocon@csic.es (E.R.); gallego@iai.csic.es (J.A.G.); ceres@iai.csic.es (R.C.); jlpons@iai.csic.es (J.L.P.) ⋆ Author to whom correspondence should be addressed; E-Mail: rafael.raya@csic.es; Tel.: +34-91-871-1900; Fax: +34-91-871-7050. Received: 7 February 2012; in revised form: 24 February 2012 / Accepted: 27 February 2012 / Published: 6 March 2012 Abstract: This work aims to create an advanced human-computer interface called ENLAZA for people with cerebral palsy (CP). Although there are computer-access solutions for disabled people in general, there are few evidences from motor disabled community (e.g., CP) using these alternative interfaces. The proposed interface is based on inertial sensors in order to characterize involuntary motion in terms of time, frequency and range of motion. This characterization is used to design a ﬁltering technique that reduces the effect of involuntary motion on person-computer interaction. This paper presents a robust Kalman ﬁlter (RKF) design to facilitate ﬁne motor control based on the previous characterization. The ﬁlt