System and Method for Determining Orientation of Body Segments Using Inertial Measurement Units
First Claim
1. A method for determining the orientation of a body segment using an inertial measurement unit (IMU) sensor capable of measuring its orientation relative to Earth, the method comprising:
- mounting a primary IMU sensor on a first body segment, with an unknown first alignment orientation relationship between the primary IMU sensor and the first body segment;
measuring a primary IMU sensor orientation;
calculating an alignment orientation relationship between the primary IMU sensor orientation and a first body segment orientation.
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Abstract
A system and method is provided for determining the orientation of a body segment using an inertial measurement unit (IMU) sensor capable of measuring its orientation relative to Earth. In general, the method mounts a primary IMU sensor on a first body segment, with an unknown first alignment orientation relationship between the primary IMU sensor and the first body segment. A primary IMU sensor orientation is measured, and an alignment orientation relationship is calculated between the primary IMU sensor orientation and a first body segment orientation. The method may also measure a primary IMU sensor initial orientation and a subsequent orientation. As a result, a subsequent orientation of the first body segment is determined based upon the primary IMU sensor initial and subsequent orientations, as well as the calculation of the alignment orientation relationship between the primary IMU sensor initial orientation and the first body segment orientation.
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Citations
22 Claims
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1. A method for determining the orientation of a body segment using an inertial measurement unit (IMU) sensor capable of measuring its orientation relative to Earth, the method comprising:
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mounting a primary IMU sensor on a first body segment, with an unknown first alignment orientation relationship between the primary IMU sensor and the first body segment; measuring a primary IMU sensor orientation; calculating an alignment orientation relationship between the primary IMU sensor orientation and a first body segment orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for determining separate constituent axial and radial rotations of a connected joint, the method comprising:
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providing a joint connecting a distal body segment to a proximal body segment; monitoring a composite joint rotation; applying a musculoskeletal model of the joint to the monitored joint rotation, where the model permits only decompositions with physiologically possible constituent rotations; and
,calculating axial and radial rotations of the distal body segment relative to the proximal body segment.
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12. A system for determining the orientation of a body segment using an inertia measurement unit (IMU) sensor capable of measuring its orientation relative to Earth, the system comprising:
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a primary IMU sensor mounted on a first body segment and having an output to supply signals associated with an unknown first alignment orientation relationship between the primary IMU sensor and the first body segment; a processor; a non-transitory memory; and
,an alignment application embedded in the non-transitory memory including a sequence of processor executable instructions for accepting the primary IMU sensor signals, measuring a primary IMU sensor orientation, and calculating an alignment orientation relationship between the primary IMU sensor orientation and a first body segment orientation. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification