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Reconstruction of arm motion from accelerometer data

Schneider, Sebastian (2014) Reconstruction of arm motion from accelerometer data. DLR-Interner Bericht. [DLR-IB 572-2014/1]. Master's. Universität Augsburg. 71 S.

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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.

Item URL in elib:https://elib.dlr.de/93334/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Reconstruction of arm motion from accelerometer data
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schneider, SebastianUniversität AugsburgUNSPECIFIED
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:71
Keywords:Accelerometer Electromyographie
Institution:Universität Augsburg
Department:Institut für Software & Systems Engineering
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 - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Vogel, Jörn
Deposited On:07 Jan 2015 13:34
Last Modified:07 Jan 2015 13:34

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