Reconstruction of arm motion from accelerometer data

Kurzfassung

This master thesis presents a method to reconstruct the wrist position and orientation (p&o) of a three degree of freedom arm. For the reconstruction it uses only 9 triaxial accelerometers. It includes a method to determine the accelerometers’ p&o by a calibration movement. To reduce the integration drift, this thesis proposes an Unscented Kalman Filter model. This model takes advantage of the inclination measurement of the arm with respect to gravity. Experimental results show that the accelerometer position reconstruction is not precise enough. This influences the wrist p&o reconstruction. Nevertheless, experiments show that nine flexing movements without internal or external arm rotation can be distinguished.