Development of an ultra-miniaturized inertial measurement unit WB-3 for human body motion tracking

Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Luca Bartolomeo, Hiroyuki Ishii, Kazuko Itoh, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human-computer interaction applications. This paper presents an ultra-miniaturized inertial measurement unit (IMU) named WB-3 for real-time attitude estimation of human limb segments. The WB-3 IMU is provided with a 32-bit microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer). The quaternion-based Extended Kalman Filter (EKF) was implemented for the sensor fusion to retrieve the attitude of the human segment. An upper body motion capture system with 12 WB-3 IMUs was elaborated for tracking human movements in real time scenarios.

Original languageEnglish
Title of host publication2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publicationSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages414-419
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
Duration: 2010 Dec 212010 Dec 22

Publication series

Name2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Conference

Conference3rd International Symposium on System Integration, SII 2010
CountryJapan
CitySendai
Period10/12/2110/12/22

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Lin, Z., Zecca, M., Sessa, S., Bartolomeo, L., Ishii, H., Itoh, K., & Takanishi, A. (2010). Development of an ultra-miniaturized inertial measurement unit WB-3 for human body motion tracking. In 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 414-419). [5708361] (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708361