IEEE Joint Angles using Accelerometer and Gyroscope英文电子书.pdfVIP

1478 IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, VOL. 52, NO. 8, AUGUST 2005 A New Approach to Accurate Measurement of Uniaxial Joint Angles Based on a Combination of Accelerometers and Gyroscopes Hooman Dejnabadi*, Brigitte M. Jolles, and Kamiar Aminian, Member, IEEE Abstract—A new method of measuring joint angle using a combi- the progress of new technologies, powerful microcontrollers, nation of accelerometers and gyroscopes is presented. The method miniature sensors, high capacity memories and small bat- proposes a minimal sensor configuration with one sensor module teries have been developed; allowing to realize low-power and mounted on each segment. The model is based on estimating the ac- celeration of the joint center of rotation by placing a pair of virtual portable recording systems carried by the subject for long-term sensors on the adjacent segments at the center of rotation. In the ambulatory measurements. Therefore there has been much proposed technique, joint angles are found without the need for in- activity in trying to find alternative solutions for capturing gait tegration, so absolute angles can be obtained which are free from information over a larger distance and outside a laboratory any source of drift. The model considers anatomical aspects and is personalized for each subject prior to each measurement. The environment. During the last decade, body-mounted sensors method was validated by measuring knee flexion-extension angles consisting of accelerometers and/or rate gyroscopes have been of eight subjects, walking at three different speeds, and comparing used to obtain kinematic values such as shank and thigh