Development of a visual-inertial motion tracking system for muscular-effort/angular joint-position relation to obtain a quantifiable variable of spasticity

Abstract

In this work, the development of an electronic instrument to assist in spasticity measurement is presented. The device measures joint angular position of the elbow using inertial measurement units (IMUs) and a monocular camera. A sensor fusion algorithm captures subject’s motion using gyroscopes, accelerometers and camera information. The developed instrument transmits data by wi-fi from a microcontroller to PC, where IMU data is fused with camera data extracted from visual markers. The developed motion tracking system data was compared with a commercial device, showing better results, which encourage its further development for spasticity evaluation.