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A Novel Sensing and Data Fusion System for 3-D Arm Motion Tracking in Telerehabilitation

Yaqin Tao, and Huosheng Hu, (2008) 'A Novel Sensing and Data Fusion System for 3-D Arm Motion Tracking in Telerehabilitation.' IEEE Transactions on Instrumentation and Measurement, 57 (5). pp. 1029-1040. ISSN 0018-9456

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Abstract

In this paper, we present a novel sensing and data fusion system to track 3-D arm motion in a telerehabilitation program. A particle filter (PF) algorithm is adopted in the system to fuse data from inertial and visual sensors in a probabilistic manner. It is able to propagate multimodal distributions of system states based on an "importance sampling" technique by using sets of weighted particles. To avoid the problem of conventional PF algorithms that suffer from particle degeneracy and perform poorly in a narrow distribution situation, we adopt two strategies in our system, namely state space pruning and an arm physical geometry constraint. Experimental results show that the proposed PF framework outperforms other fusion methods and provides accurate results in comparison to the ground truth. © 2008 IEEE.

Item Type: Article
Uncontrolled Keywords: biomedical measurements; particle filter (PF); sensor fusion; telerehabilitation; upper limb pose estimation; 3-D arm motion tracking
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Science and Health
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 19 Nov 2013 13:51
Last Modified: 23 Sep 2022 18:44
URI: http://repository.essex.ac.uk/id/eprint/8522

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