Extended Kalman Filter Design for Cost Effective Bio-medical Motion Sensor

초록

Recently, various studies have been carried out to analyze physical ability of the body by measuring a body motion. Previous studies showed inadequacy in body movement measurement with inaccurate measurement capability, confined or limited space, or expensive equipment. In this paper, we propose an extended Kalman filter design that estimates motion trajectory of a body more precisely by using the length of the arm to estimate the positional measurement value. In the experiment, we compared the position of the left and right limbs by performing lateral raise with the shoulder joints as the axis. 2 sensors were attached to the left and right wrists for synchronization of the measurement between the limbs. These experimental results show that the low-cost sensors can measure movements of the left and right upper limbs.