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Intelligent Inertial Sensor Networks

From Fachgebiet Regelungssysteme TU Berlin

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Plug-and-Play Gait Analysis

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This project is concerned with the development and evaluation of algorithms that allow an extensive analysis of the human gait based on the measurement data of IMUs attached to the feet, shanks and thighs. Unlike previous results, our approach exploits the geometrical constraints induced by the joint mechanics instead of requiring complex calibration movements or exact sensor mounting.more

Orientation and Joint Angle Estimation in Inhomogeneous Magnetic Fields

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We consider the standard sensor fusion problem in IMU orientation estimation and highlight the malicious effects that magnetic disturbances can have on the inclination portions (roll and pitch) of the orientation estimate. We develop new methods which assure that magnetic field measurements affect only the heading (yaw) component of the orientation estimate.more

Event-based Sampling in IMU Networks

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The gait cycle is modeled by a finite automaton that describes the gait phases for each side. Gait phase transitions are detected in real time using adaptive-threshold-based algorithms. Furthermore, the orientation and position trajectories of both feet are analyzed to detect stairs, slopes and uneven terrain.more

Realtime Gait Phase and Terrain Detection

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The gait cycle is modeled by a finite automaton that describes the gait phases for each side. Gait phase transitions are detected in real time using adaptive-threshold-based algorithms. Furthermore, the orientation and position trajectories of both feet are analyzed to detect stairs, slopes and uneven terrain.more

Hand Gesture Tracking and Control

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The adaptive hand neuroprostheses will enable patients with a hand paresis to manipulate objects of the daily live. In order to continuously adjust the stimulation parameters, the hand and finger motion is analyzed in real time by an inertial sensor network that is distributed on the finger and hand segments.more

Motion Tracking in Paraplegic Cycling

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In order to support knee flexion/extension as well as foot dorsiflexion, plantarflexion and eversion, we develop multichannel gait neuroprostheses. The stimulation intensities are adjusted from stride to stride based on inertial sensor measurements and a decentralized iterative learning control scheme.more

3D Visualization and Realtime Biofeedback

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To provide realtime feedback of body posture and motion, the orientations of multiple body segments are estimated based on measurements of a wearable inertial sensor network. Additional information like muscle activity or stimulation intensities are simultaneously visualized on the skin of the avatar.more

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