Reducing Drifts in the Inertial Measurements of Wrist and Elbow Positions

Huiyu Zhou, Huosheng Hu

Research output: Contribution to journalArticle

74 Citations (Scopus)


In this paper, we present an inertial-sensor-based monitoring system for measuring the movement of human upper limbs. Two wearable inertial sensors are placed near the wrist and elbow joints, respectively. The measurement drift in segment orientation is dramatically reduced after a Kalman filter is applied to estimate inclinations using accelerations and turning rates from gyroscopes. Using premeasured lengths of the upper and lower arms, we compute the position of the wrist and elbow joints via a proposed kinematic model. Experimental results demonstrate that this new motion capture system, in comparison to an optical motion tracker, possesses an RMS position error of less than 0.009 m, with a drift of less than 0.005 ms-1 in five daily activities. In addition, the RMS angle error is less than 3??. This indicates that the proposed approach has performed well in terms of accuracy and reliability.
Original languageEnglish
Article number5247091
Pages (from-to)575-585
Number of pages11
JournalIEEE Transactions on Instrumentation and Measurement
Issue number3
Publication statusPublished - Mar 2010

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Instrumentation

Fingerprint Dive into the research topics of 'Reducing Drifts in the Inertial Measurements of Wrist and Elbow Positions'. Together they form a unique fingerprint.

  • Cite this