Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)
Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)
Inverse Kinematics of Human Arm Based on Multisensor Data Integration
Journal of Intelligent and Robotic Systems
uWave: Accelerometer-based personalized gesture recognition and its applications
PERCOM '09 Proceedings of the 2009 IEEE International Conference on Pervasive Computing and Communications
Comparison of Orientation Filter Algorithms for Realtime Wireless Inertial Posture Tracking
BSN '09 Proceedings of the 2009 Sixth International Workshop on Wearable and Implantable Body Sensor Networks
IEEE Transactions on Robotics
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Stroke is a leading cause of disability in the United States and yet little technology is currently available for individuals with stroke to practice rehabilitation therapy progress in their homes. This paper presents StrokeTrack, an efficient, wearable upper limb motion tracking method for stroke rehabilitation therapy at home. StrokeTrack consists of two inertial measurement unit(IMU)s that are placed on the wrist and the elbow. Each IMU consists of a 3-axis accelerometer and a 3-axis gyroscope. In order to track the motion of the upper limb, StrokeTrack estimates the position of the forearm and upper arm by using an inertial tracking algorithm and a kinematic model. In the next step, StrokeTrack corrects the positions of the joints inferred from the inherent integration drift, and updates them. Finally, dynamic time warping (DTW) is adopted in order to check the accuracy of the patient's motions by matching them to the reference motions.