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Evaluation of wearable IMU performance for orientation estimation and motion tracking

机译：评估可穿戴IMU的性能以进行方向估计和运动跟踪

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Introducing objective wearable IMU measurements of functional movement quality into clinical assessments may improve accuracy of diagnosis. The goal of the present study was to assess the performance of inexpensive wearable IMUs relative to conventional motion capture equipment during controlled movements that are representative of typical human movement. Thirty-five cycles of spine flexion-extension, lateral bending, and axial twisting were simulated by means of a motorized gimbal at speeds of 20 cycles/min and 40 cycles/min. Differences between cycle-to-cycle maximum angle, minimum angle, and ROM values, as well as correlational analyses within IMUs and between IMUs and motion capture, in all movement directions, were compared. All absolute differences in measurements were < 1.55°. There were very high correlations between repeated IMU measures (R > 0.99) in all movement directions showing reliability between sensors and measurements. Overall, it was revealed that the sensors perform very well in the primary movement direction and one secondary axis; however, correlation in the third axis is suboptimal for orientation estimation and motion tracking.
机译：将功能运动质量的客观可穿戴IMU测量引入临床评估可以提高诊断的准确性。本研究的目的是评估代表典型人类运动的受控运动过程中相对于传统运动捕捉设备的廉价可穿戴IMU的性能。通过电动万向架以20转/分钟和40转/分钟的速度模拟了脊柱屈伸，横向弯曲和轴向扭曲的35个循环。比较了各个运动方向上每个周期的最大角度，最小角度和ROM值之间的差异，以及IMU内部以及IMU与运动捕获之间的相关性分析。测量中的所有绝对差值均小于1.55°。在所有运动方向上重复的IMU测量值之间的相关性非常高（R> 0.99），表明传感器和测量值之间的可靠性。总的来说，揭示了传感器在主要运动方向和一个次要轴上的性能非常好。然而，对于方位估计和运动跟踪，第三轴的相关性不是最佳的。

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