A Constrained-Based Optimization Method for Real-Time Kinematics Using Magneto-Inertial Signals: Application to Upper Limb Joint Angles Estimation During Prolonged Recordings
This work presents a flexible method for the real-time estimation of human joint angles from magneto-inertial measurement technology. The method aims to enhance the accuracy and consistency of joint angle estimates by incorporating physiological joint limits and task-specific motor characteristics i...
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2024-01-01
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| Online Access: | https://ieeexplore.ieee.org/document/10632149/ |
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| author | Marco Caruso Elisa Digo Laura Gastaldi Stefano Pastorelli Andrea Cereatti |
| author_facet | Marco Caruso Elisa Digo Laura Gastaldi Stefano Pastorelli Andrea Cereatti |
| author_sort | Marco Caruso |
| collection | DOAJ |
| description | This work presents a flexible method for the real-time estimation of human joint angles from magneto-inertial measurement technology. The method aims to enhance the accuracy and consistency of joint angle estimates by incorporating physiological joint limits and task-specific motor characteristics into the optimization process, thanks to a biomechanical model. As an explanatory example, the method was applied to shoulder and elbow joints during a prolonged writing task. The adopted upper limb model was designed following the International Society of Biomechanics guidelines and the Denavit-Hartenberg convention, ensuring anatomical relevance and computational efficiency. By comparing results with stereophotogrammetric tracking outputs, the application of constraints - leveraging a priori knowledge of the workspace boundaries for joint centers - enhanced the accuracy of shoulder and elbow angle estimations and effectively mitigated the impact of sensor orientation drift over extended periods. This method ensured that joint centers trajectories remain within task-specific workspace limits, thus preventing deviations that are not compatible with the expected kinematic behavior. The percentage decrease in the root mean square average errors amounted to about 13% in the time intervals when constraints were active, demonstrating the method’s effectiveness in reducing the errors. Computationally time-wise, joint angles were estimated with an update period of about 10 ms, allowing real-time usage. The proposed method can be easily generalized to different biomechanical models and to include information from complementary technologies, making it applicable across various contexts such as clinical assessments, rehabilitation, and ergonomics. |
| format | Article |
| id | doaj-art-74f45eb99126456096b5e0e9723bc1ae |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-74f45eb99126456096b5e0e9723bc1ae2025-01-09T00:00:55ZengIEEEIEEE Access2169-35362024-01-011211561511562710.1109/ACCESS.2024.344131410632149A Constrained-Based Optimization Method for Real-Time Kinematics Using Magneto-Inertial Signals: Application to Upper Limb Joint Angles Estimation During Prolonged RecordingsMarco Caruso0https://orcid.org/0000-0002-1529-8095Elisa Digo1https://orcid.org/0000-0002-5760-9541Laura Gastaldi2https://orcid.org/0000-0003-3921-3022Stefano Pastorelli3https://orcid.org/0000-0001-7808-8776Andrea Cereatti4https://orcid.org/0000-0002-7276-5382Department of Electronics and Telecommunications, Politecnico di Torino, Turin, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, ItalyPolitoBIOMedLab—Biomedical Engineering Lab, Politecnico di Torino, Turin, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, ItalyDepartment of Electronics and Telecommunications, Politecnico di Torino, Turin, ItalyThis work presents a flexible method for the real-time estimation of human joint angles from magneto-inertial measurement technology. The method aims to enhance the accuracy and consistency of joint angle estimates by incorporating physiological joint limits and task-specific motor characteristics into the optimization process, thanks to a biomechanical model. As an explanatory example, the method was applied to shoulder and elbow joints during a prolonged writing task. The adopted upper limb model was designed following the International Society of Biomechanics guidelines and the Denavit-Hartenberg convention, ensuring anatomical relevance and computational efficiency. By comparing results with stereophotogrammetric tracking outputs, the application of constraints - leveraging a priori knowledge of the workspace boundaries for joint centers - enhanced the accuracy of shoulder and elbow angle estimations and effectively mitigated the impact of sensor orientation drift over extended periods. This method ensured that joint centers trajectories remain within task-specific workspace limits, thus preventing deviations that are not compatible with the expected kinematic behavior. The percentage decrease in the root mean square average errors amounted to about 13% in the time intervals when constraints were active, demonstrating the method’s effectiveness in reducing the errors. Computationally time-wise, joint angles were estimated with an update period of about 10 ms, allowing real-time usage. The proposed method can be easily generalized to different biomechanical models and to include information from complementary technologies, making it applicable across various contexts such as clinical assessments, rehabilitation, and ergonomics.https://ieeexplore.ieee.org/document/10632149/Anatomical constraintshuman motion trackingMIMUIMUISBjoint angle estimation |
| spellingShingle | Marco Caruso Elisa Digo Laura Gastaldi Stefano Pastorelli Andrea Cereatti A Constrained-Based Optimization Method for Real-Time Kinematics Using Magneto-Inertial Signals: Application to Upper Limb Joint Angles Estimation During Prolonged Recordings IEEE Access Anatomical constraints human motion tracking MIMU IMU ISB joint angle estimation |
| title | A Constrained-Based Optimization Method for Real-Time Kinematics Using Magneto-Inertial Signals: Application to Upper Limb Joint Angles Estimation During Prolonged Recordings |
| title_full | A Constrained-Based Optimization Method for Real-Time Kinematics Using Magneto-Inertial Signals: Application to Upper Limb Joint Angles Estimation During Prolonged Recordings |
| title_fullStr | A Constrained-Based Optimization Method for Real-Time Kinematics Using Magneto-Inertial Signals: Application to Upper Limb Joint Angles Estimation During Prolonged Recordings |
| title_full_unstemmed | A Constrained-Based Optimization Method for Real-Time Kinematics Using Magneto-Inertial Signals: Application to Upper Limb Joint Angles Estimation During Prolonged Recordings |
| title_short | A Constrained-Based Optimization Method for Real-Time Kinematics Using Magneto-Inertial Signals: Application to Upper Limb Joint Angles Estimation During Prolonged Recordings |
| title_sort | constrained based optimization method for real time kinematics using magneto inertial signals application to upper limb joint angles estimation during prolonged recordings |
| topic | Anatomical constraints human motion tracking MIMU IMU ISB joint angle estimation |
| url | https://ieeexplore.ieee.org/document/10632149/ |
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