Background: The aim of the study was to answer two questions: 1 – Can data processing algorithms ensure sufficient accuracy for estimating human body pose via wearable systems? 2 – How to process the IMU sensor data to obtain the most accurate information on the human body pose? To answer these questions, the authors evaluated proposed algorithms in terms of accuracy and reliability. Methodology: data acquisition was performed with tested IMU sensors system mounted onto a Biodex System device. Research included pendulum movement with seven angular velocities (10-120°/s) in five angular movement ranges (30-120°). Algorithms used data from accelerometers and gyroscopes and considered complementary and/or Kalman filters with adjusted parameters. Moreover, angular velocity registration quality was also taken into consideration. Results: differences between means for angular velocity were 0.55÷1.05°/s and 1.76÷3.11%. In the case of angular position relative error of means was 4.77÷10.84%, relative error of extreme values was 2.15÷4.81% and Spearman’s correlation coefficient was 0.74÷0.89. Conclusions: Algorithm calculating angles based on acceleration-derived quaternions and with implementation of Kalman filter was the most accurate for data processing and can be adapted for future work with IMU sensors systems, especially in wearable devices that are designated to support human in daily activity.
Praca prezentuje alternatywne podejście do konstrukcji zadajnika trajektorii robota chirurgicznego, polegające na wykorzystaniu sprzężonych sensorów ruchu typu MEMS: kompasu, żyroskopu, akcelerometru. Miniaturowy moduł z tymi układami może być nakładany bezpośrednio na dłoń chirurgaoperatora lub na jego palce. Zaletą takiego zadajnika jest nie tylko niska cena, ale również wysoka funkcjonalność, związana z otwartością na dodawanie nowych modułów programowych. Przykładem wbudowanej funkcji może być generator ścieżki dojścia do pola zabiegu, wykorzystujący wielomiany sklejane w reprezentacji Catmull-Rom. Dodatkowo, zadajnik tego typu jest bardzo mały i łatwy do zastosowania w systemie mobilnym (karetka pogotowia, polowy ambulans wojskowy).
EN
The paper presents an alternative approach to the construction of the surgical robot trajectory haptic console by the use of motion MEMS type sensors: compass, gyro, accelerometer. Miniature module with these elements can be applied directly to the surgeon's hand or can be located on his fingers. The advantage of this device is not only low price, but also a high level of functionality associated with openness to adding new software modules. An example of built-in function can be the generator of a come path to the surgery field by the use of spline polynomials in the Catmull-Rom representation. In addition, the haptic console is very small and easy to use in mobile systems (military field ambulances).
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.