Application of the sensor fusion for the system to track human upper limb motion

Abstract

The paper presents the system to track and visualize the human movement. The system is equipped with inertial measurement units, consisting triaxial accelerometers, gyroscopes and magnetometers. The estimates of the relative position and orientation in the proposed system are obtained using the data from the sensors and a biomechanical model. To estimate the orientation of the body segments we applied Madgewick algorithm. The biomechanical model applied in our studies is based on twists and exponential maps. As a proof-of-concept, we applied our approach to an upper limb to illustrate its ability to track human motion.