Real-time data acquire from multiple accelerometers and IMU to calculate 3-direction angles and relative orientation

Abstract EN

Measuring human body kinematics using inertial measurement unit (IMU) has increased in popularity as its flexibility, cheap and ease of use, compared to alternative strategies.

In this work estimation of Elbow joint angles was done in three directions based on 9-DOF IMU and three ADXL-345 accelerometers.

A special wearable sensor system was designed that can be mounted on the human body to obtain information on human arm movement, the firmware was developed to capture accurate data using Arduino UNO.As the outcome data is huge a program has been developed using C# to capture the data from two links.

A mathematical model was devloped and coded with Matlab software to estimate three direction angles and relative orientation based on the data collected from the sensors.

The Kalman filter is applied to the IMU data and adapted to work with the circuit adequately .Also, low pass filters applied to the Accelerometers data.

Three directions joint angle has been estimated and rotational matrix for the model is formulated