James Nathan McNames,Mahmoud El-Gohary,Sean Christopher Pearson
申请号：
US12378486
公开号：
US09597015B2
申请日:
2009.02.12
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A method for estimating joint angles of a multi-segment limb from inertial sensor data accurately estimates and tracks the orientations of multiple segments of the limb as a function of time using data from a single inertial measurement unit worn at the distal end of the limb. Estimated joint angles are computed from measured inertial data as a function of time in a single step using a nonlinear state space estimator. The estimator preferably includes a tracking filter such as an unscented Kalman filter or particle filter. The nonlinear state space estimator incorporates state space evolution equations based on a kinematic model of the multi-segment limb.
