A Real-time Motion Tracking Wireless System for Upper Limb Exosuit Based on Inertial Measurement Units and Flex Sensors (TECHNICAL NOTE)

نویسندگان
Rivera, C. T. ID 1
Mauledoux, M. F. ID 2
Pastor, S. S. ID 3
Avilés, O. F. ID 4

1 Mechatronics Engineering Program, Faculty of Engineering, Militar Nueva Granada University, Bogotá, Colombia

2 Mechatronics Engineering Program, Faculty of Engineering, Militar Nueva Granada University, Bogotá, Colombia

3 Mechatronics Engineering Program, Faculty of Engineering, Militar Nueva Granada University, Bogotá, Colombia

4 Mechatronics Engineering Program, Faculty of Engineering, Militar Nueva Granada University, Bogotá, Colombia

doi
چکیده

This paper puts forward a real-time angular tracking (motion capture) system for a low cost upper limb exosuit based on sensor fusion; which is integrated by an elastic sleeve-mitten, two inertial measurement units (IMU), two flex sensors and a wireless communication system. The device can accurately detect the angular position of the shoulder (flexion-extension, abduction-adduction and internal-external rotation), elbow (flexion-extension and forearm supination-pronation), and wrist (flexion-extension) joints. In addition, the state of the hand (opened-closed). Finaly a PID controller is applied to the exosuit in order to replicate the movements performed by the arm into a 6 DOF robot arm.

کلیدواژه‌ها
Motion Tracking, Wearable Sensors, Upper Limb Exosuit