Inertial motion tracking algorithm for human arm based on Lie algebra
LIU Dan
WANG Xin
PIAN Jin-xiang
Abstract：In order to realize the real time tracking of human arm motion,a method for realizing the tracking of human arm motion with an inertial sensor was proposed.With the quaternion information obtained by the inertial measurement unit (IMU),the joint positions of wrist,elbow and shoulder were obtained.The inertial data were transmitted to a host computer through bluetooth wireless communication method.Through adopting the OptiTrack optical motion tracking device with millimeter level motion tracking accuracy,the position data of human arm were obtained and taken as the reference position data. The position information in the IMU coordinate system was transformed into the information in the OptiTrack coordinate system for comparison.The results show that the proposed method is suitable for the motion tracking in the free motion environment,and has higher motion tracking accuracy.
Keywords：arm motion trackingLie algebratwist and exponential mappinginertial measurement unit (IMU)OptiTrack optical motion trackingkinematics chainquaternionbluetooth communication
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 73-77 )