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Fusion of IMU and Muscular Information in Order to Solve the Limb Position Effect

Sierotowicz, Marek (2019) Fusion of IMU and Muscular Information in Order to Solve the Limb Position Effect. DLR-Interner Bericht. DLR-IB-RM-OP-2019-219. Master's. Technical University of Munich. 78 S.

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The main goal of the work hereafter presented is to integrate data about a subject’s body pose with data regarding the muscular activity in the forearm in order to improve the prediction of hand movement intention, particularly with respect to the limb position effect. The efforts to this end were articulated in three fundamental phases. Firstly, a portable and lightweight upper body tracking system was designed, implemented and characterized, particularly with respect to drift. Secondly, offline and online analyses about possible approaches to integrate the data from the body tracking system with different kinds of data measuring muscular activity in the forearm were conducted. Finally, a user study involving telemanipulation using a humanoid platform was conducted with the main goal of evaluating the learning curve of a subject using the upper body tracking system and in order to test some of the offline test results in terms of performance in the execution of daily tasks. Furthermore, this user study allowed to test an alternative control scheme especially suited for transradial amputees, with the main goal to estimate wrist rotation intention without the need to rely on muscular activity information.

Item URL in elib:https://elib.dlr.de/133582/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Fusion of IMU and Muscular Information in Order to Solve the Limb Position Effect
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:15 May 2019
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:78
Keywords:Multi-modal intent detection; body tracking; IMU; teleoperation;
Institution:Technical University of Munich
Department:Department of Informatics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Sierotowicz, Marek
Deposited On:21 Jan 2020 11:38
Last Modified:21 Jan 2020 11:38

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