Generalized Hebbian algorithm for wearable sensor rotation estimation

Vladimir Joukov, Jonathan Feng Shun Lin, Dana Kulic

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

1 Citation (Scopus)

Abstract

Inertial measurement units (IMUs) enable human motion measurement in any environment, which can be useful for human robot interaction, exoskeletons, and active prosthetics. This paper proposes an approach for estimating the orientation between a wearable IMU sensor and the body frame of the wearer using a simple and fast calibration procedure. The proposed approach uses the generalized Hebbian algorithm to incrementally estimate the axis aligned with gravity using acceleration measurements obtained during a static pose, and the axis perpendicular to the saggital plane using gyro measurements obtained during sagittal plane movements. An automated convergence criterion based on the sensor measurement variance is used. The proposed approach is tested in simulation and with human movement and demonstrates excellent and fast calibration performance.

Original languageEnglish
Title of host publication2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)
EditorsRichard Vaughan
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages2248-2253
Number of pages6
ISBN (Electronic)9781538626825, 9781538626818
ISBN (Print)9781538626832
DOIs
Publication statusPublished - 13 Dec 2017
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2017 - Vancouver, Canada
Duration: 24 Sep 201728 Sep 2017
http://iros2017.org/
https://ieeexplore.ieee.org/xpl/conhome/8119304/proceeding (Proceedings)

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2017
Abbreviated titleIROS 2017
CountryCanada
CityVancouver
Period24/09/1728/09/17
Internet address

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