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Human Motion Estimation Using Only Inertial Sensors

Article of Honda R&D Technical Review Vol.34 No.1


When human motion is estimated using inertial sensors, measurement over long periods of time results in the accumulation of errors in yaw angle direction. There is a method of compensating for this using magnetometers, but this method is not effective in environments where the magnetism is unstable. A method of compensating for errors in yaw angle direction without using magnetometers was therefore investigated. A method was devised in which the measurement object is defined as motion in which every link of the body has the same yaw angle when averaged over time. Compensation is then applied by reducing the differences in yaw angle between the links. When estimating walking motion, the difference in joint angle estimated by the method using inertial sensors and magnetometers and that estimated by optical motion capture has a root mean square of 8.4 deg, while the corresponding figure with the present method using only inertial sensors is 8.9 deg. This indicates equal levels of accuracy. It was also confirmed that the integral calculation error in yaw angle when measuring walking motion over a long period of time was equally reduced.


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Author (organization or company)

Haruo AOKI(Innovative Research Excellence)