keyword
https://read.qxmd.com/read/38547228/design-and-implementation-of-origami-robot-ros-based-slam-and-autonomous-navigation
#1
JOURNAL ARTICLE
Lijuan Zhao, Tianyi Zhang, Zuen Shang
In this study an innovative parameterized water-bomb wheel modeling method based on recursive solving are introduced, significantly reducing the modeling workload compared to traditional methods. A multi-link supporting structure is designed upon the foundation of the water-bomb wheel model. The effectiveness of the supporting structure is verified through simulations and experiments. For robots equipped with this water-bomb wheel featuring the multi-link support, base on the kinematic model of multi-link structure, a mapping algorithm that incorporates parameterized kinematic solutions and IMU-fused parameterized odometry is proposed...
2024: PloS One
https://read.qxmd.com/read/38544248/a-novel-machine-learning-based-anfis-calibrated-riss-gnss-integration-for-improved-navigation-in-urban-environments
#2
JOURNAL ARTICLE
Ahmed E Mahdi, Ahmed Azouz, Aboelmagd Noureldin, Ashraf Abosekeen
Autonomous vehicles (AVs) require accurate navigation, but the reliability of Global Navigation Satellite Systems (GNSS) can be degraded by signal blockage and multipath interference in urban areas. Therefore, a navigation system that integrates a calibrated Reduced Inertial Sensors System (RISS) with GNSS is proposed. The system employs a machine-learning-based Adaptive Neuro-Fuzzy Inference System (ANFIS) as a novel calibration technique to improve the accuracy and reliability of the RISS. The ANFIS-based RISS/GNSS integration provides a more precise navigation solution in such environments...
March 20, 2024: Sensors
https://read.qxmd.com/read/38544217/assessment-of-noise-of-mems-imu-sensors-of-different-grades-for-gnss-imu-navigation
#3
JOURNAL ARTICLE
Vladimir Suvorkin, Miquel Garcia-Fernandez, Guillermo González-Casado, Mowen Li, Adria Rovira-Garcia
Inertial measurement units (IMUs) are key components of various applications including navigation, robotics, aerospace, and automotive systems. IMU sensor characteristics have a significant impact on the accuracy and reliability of these applications. In particular, noise characteristics and bias stability are critical for proper filter settings to perform a combined GNSS/IMU solution. This paper presents an analysis based on the Allan deviation of different IMU sensors that correspond to different grades of micro-electromechanical systems (MEMS)-type IMUs in order to evaluate their accuracy and stability over time...
March 19, 2024: Sensors
https://read.qxmd.com/read/38544213/assessing-motor-variability-during-squat-the-reliability-of-inertial-devices-in-resistance-training
#4
JOURNAL ARTICLE
Fernando García-Aguilar, Miguel López-Fernández, David Barbado, Francisco J Moreno, Rafael Sabido
Movement control can be an indicator of how challenging a task is for the athlete, and can provide useful information to improve training efficiency and prevent injuries. This study was carried out to determine whether inertial measurement units (IMU) can provide reliable information on motion variability during strength exercises, focusing on the squat. Sixty-six healthy, strength-trained young adults completed a two-day protocol, where the variability in the squat movement was analyzed at two different loads (30% and 70% of one repetition maximum) using inertial measurement units and a force platform...
March 19, 2024: Sensors
https://read.qxmd.com/read/38544202/design-of-a-multi-position-alignment-scheme
#5
JOURNAL ARTICLE
Bofan Guan, Zhongping Liu, Dong Wei, Qiangwen Fu
The current new type of inertial navigation system, including rotating inertial navigation systems and three-autonomy inertial navigation systems, has been increasingly widely applied. Benefited by the rotating mechanisms of these inertial navigation systems, alignment accuracy can be significantly enhanced by implementing IMU (Inertial Measurement Unit) rotation during the alignment process. The principle of suppressing initial alignment errors using rotational modulation technology was investigated, and the impact of various component error terms on alignment accuracy of IMU during rotation was analyzed...
March 18, 2024: Sensors
https://read.qxmd.com/read/38544198/development-of-wearable-devices-for-collecting-digital-rehabilitation-fitness-data-from-lower-limbs
#6
JOURNAL ARTICLE
Yu-Jung Huang, Chao-Shu Chang, Yu-Chi Wu, Chin-Chuan Han, Yuan-Yang Cheng, Hsian-Min Chen
Lower extremity exercises are considered a standard and necessary treatment for rehabilitation and a well-rounded fitness routine, which builds strength, flexibility, and balance. The efficacy of rehabilitation programs hinges on meticulous monitoring of both adherence to home exercise routines and the quality of performance. However, in a home environment, patients often tend to inaccurately report the number of exercises performed and overlook the correctness of their rehabilitation motions, lacking quantifiable and systematic standards, thus impeding the recovery process...
March 18, 2024: Sensors
https://read.qxmd.com/read/38544165/assessing-the-validity-of-the-ergotex-imu-in-joint-angle-measurement-a-comparative-study-with-optical-tracking-systems
#7
JOURNAL ARTICLE
Jose M Jimenez-Olmedo, Juan Tortosa-Martínez, Juan M Cortell-Tormo, Basilio Pueo
An observational, repeated measures design was used in this study to assess the validity of the Ergotex Inertial Measurement Unit (IMU) against a 3D motion capture system for measuring trunk, hip, and shoulder angles in ten healthy adult males (38.8 ± 7.3 y, bodyweight 79.2 ± 115.9 kg, body height 179.1 ± 8.1 cm). There were minimal systematic differences between the devices, with the most significant discrepancy being 1.4 degrees for the 80-degree target angle, denoting Ergotex's precision in joint angle measurements...
March 16, 2024: Sensors
https://read.qxmd.com/read/38544112/imu-auto-calibration-based-on-quaternion-kalman-filter-to-identify-movements-of-dairy-cows
#8
JOURNAL ARTICLE
Carlos Muñoz-Poblete, Cristian González-Aguirre, Robert H Bishop, David Cancino-Baier
This work is focused on developing a self-calibration algorithm for an orientation estimation of cattle movements based on a quaternion Kalman filter. The accelerometer signals in the earth's frame provide more information to confirm that the cow is performing a jump to mount another cow. To obtain the measurements in the earth's frame, we propose a self-calibration method based on a strapdown inertial navigation system (SINS), which does not require intervention by the user once deployed in the field. The self-calibration algorithm uses a quaternion-based Kalman filter to predict the angular orientation with bias correction, and update it based on the measurements of accelerometers and magnetometers...
March 13, 2024: Sensors
https://read.qxmd.com/read/38544068/distributed-imu-sensors-for-in-field-dynamic-measurements-on-an-alpine-ski
#9
JOURNAL ARTICLE
Leopold G Beuken, Joshua L Priest, Travis Hainsworth, J Sean Humbert
Modern ski design is an inherently time-consuming process that involves an iterative feedback loop comprised of design, manufacturing and in-field qualitative evaluations. Additionally consumers can only rely on qualitative evaluation for selecting the ideal ski, and due to the variation in skier styles and ability levels, consumers can find it to be an inconsistent and expensive experience. We propose supplementing the design and evaluation process with data from in-field prototype testing, using a modular sensor array that can be ported to nearly any ski...
March 11, 2024: Sensors
https://read.qxmd.com/read/38539223/deep-learning-model-for-classifying-shoulder-pain-rehabilitation-exercises-using-imu-sensor
#10
JOURNAL ARTICLE
Kyuwon Lee, Jeong-Hyun Kim, Hyeon Hong, Yeji Jeong, Hokyoung Ryu, Hyundo Kim, Shi-Uk Lee
BACKGROUND: Artificial intelligence is being used for rehabilitation, including monitoring exercise compliance through sensor technology. AI classification of shoulder exercise wearing an IMU sensor has only been reported in normal (i.e. painless) subjects. To prove the feasibility of monitoring exercise compliance, we aimed to classify 11 types of shoulder rehabilitation exercises using an AI (artificial intelligence) algorithm in patients with shoulder pain. We had the patients wear an IMU-based sensor, collected data during exercise, and determined the accuracy of exercise classification...
March 27, 2024: Journal of Neuroengineering and Rehabilitation
https://read.qxmd.com/read/38535000/capability-of-machine-learning-algorithms-to-classify-safe-and-unsafe-postures-during-weight-lifting-tasks-using-inertial-sensors
#11
JOURNAL ARTICLE
Giuseppe Prisco, Maria Romano, Fabrizio Esposito, Mario Cesarelli, Antonella Santone, Leandro Donisi, Francesco Amato
Occupational ergonomics aims to optimize the work environment and to enhance both productivity and worker well-being. Work-related exposure assessment, such as lifting loads, is a crucial aspect of this discipline, as it involves the evaluation of physical stressors and their impact on workers' health and safety, in order to prevent the development of musculoskeletal pathologies. In this study, we explore the feasibility of machine learning (ML) algorithms, fed with time- and frequency-domain features extracted from inertial signals (linear acceleration and angular velocity), to automatically and accurately discriminate safe and unsafe postures during weight lifting tasks...
March 8, 2024: Diagnostics
https://read.qxmd.com/read/38515455/robust-finger-interactions-with-cots-smartwatches-via-unsupervised-siamese-adaptation
#12
JOURNAL ARTICLE
Wenqiang Chen, Ziqi Wang, Pengrui Quan, Zhencan Peng, Shupei Lin, Mani Srivastava, Wojciech Matusik, John Stankovic
Wearable devices like smartwatches and smart wristbands have gained substantial popularity in recent years. However, their small interfaces create inconvenience and limit computing functionality. To fill this gap, we propose ViWatch, which enables robust finger interactions under deployment variations, and relies on a single IMU sensor that is ubiquitous in COTS smartwatches. To this end, we design an unsupervised Siamese adversarial learning method. We built a real-time system on commodity smartwatches and tested it with over one hundred volunteers...
October 2023: Proceedings of the ACM Symposium on User Interface Software and Technology
https://read.qxmd.com/read/38512746/a-fusion-network-with-stacked-denoise-autoencoder-and-meta-learning-for-lateral-walking-gait-phase-recognition-and-multi-step-ahead-prediction
#13
JOURNAL ARTICLE
Wujing Cao, Changyu Li, Lijun Yang, Meng Yin, Chunjie Chen, Worawarit Kobsiriphat, Thanak Utakapan, Yizhuang Yang, Haoyong Yu, Xinyu Wu
Lateral walking gait phase recognition and prediction are the premise of hip exoskeleton application in lateral resistance walk exercise. In this work, we presented a fusion network with stacked denoise autoencoder and meta learning (SDA-NN-ML) to recognize gait phase and predict gait percentage from IMU signals. Experiments were conducted to detect the four lateral walking gait phases and predict their percentage in 10 healthy subjects across different speeds. The performance of SDA-NN-ML and other widely used algorithms including Support Vector Machine (SVM), Adaptive Boosting (AdaBoost) and Long Short Term Memory (LSTM) were evaluated...
March 21, 2024: IEEE Journal of Biomedical and Health Informatics
https://read.qxmd.com/read/38510413/evolution-of-clinical-simulation-training-and-pandemic-led-acceleration-the-international-medical-university-imu-malaysia-journey
#14
EDITORIAL
Thiruselvi Subramaniam, Sharifah Sulaiha Syed Aznal, Mohammad Arshad Ikram
In many universities, simulation-based learning has finally been inducted as a member of 'the accepted teaching modality community'. This paper is to share the challenges and successes in the journey towards the inclusion of simulation-based learning in the medical curriculum at the authors' university which saw a steep surge during the COVID-19 pandemic .  Our teaching and learning that was heavily traditional based went through a dramatic change to adapt to the new norm when the actual environment and patients became out of reach...
February 2024: Medical Science Educator
https://read.qxmd.com/read/38506913/using-in-shoe-inertial-measurement-unit-sensors-to-understand-daily-life-gait-characteristics-in-patients-with-distal-radius-fractures-during-6-months-of-recovery-cross-sectional-study
#15
JOURNAL ARTICLE
Akiko Yamamoto, Eriku Yamada, Takuya Ibara, Fumiyuki Nihey, Takuma Inai, Kazuya Tsukamoto, Tomohiko Waki, Toshitaka Yoshii, Yoshiyuki Kobayashi, Kentaro Nakahara, Koji Fujita
BACKGROUND: A distal radius fracture (DRF) is a common initial fragility fracture among women in their early postmenopausal period, which is associated with an increased risk of subsequent fractures. Gait assessments are valuable for evaluating fracture risk; inertial measurement units (IMUs) have been widely used to assess gait under free-living conditions. However, little is known about long-term changes in patients with DRF, especially concerning daily-life gait. We hypothesized that, in the long term, the daily-life gait parameters in patients with DRF could enable us to reveal future risk factors for falls and fractures...
March 20, 2024: JMIR MHealth and UHealth
https://read.qxmd.com/read/38496641/developmental-differences-in-reaching-and-placing-movement-and-its-potential-in-classifying-children-with-and-without-autism-spectrum-disorder-deep-learning-approach
#16
Wan-Chun Su, John Mutersbaugh, Wei-Lun Huang, Anjana Bhat, Amir Gandjbakhche
Autism Spectrum Disorder (ASD) is among the most prevalent neurodevelopmental disorders, yet the current diagnostic procedures rely on behavioral analyses and interviews and lack objective screening methods. This study seeks to address this gap by integrating upper limb kinematics and deep learning methods to identify potential biomarkers that could be validated in younger age groups in the future to enhance the identification of ASD. Forty-one school-age children, with and without an ASD diagnosis (Mean age ± SE = 10...
March 4, 2024: Research Square
https://read.qxmd.com/read/38490957/edge-computing-transformers-for-fall-detection-in-older-adults
#17
JOURNAL ARTICLE
Jesús Fernandez-Bermejo, Jesús Martinez-Del-Rincon, Javier Dorado, Xavier Del Toro, María J Santofimia, Juan C Lopez
The global trend of increasing life expectancy introduces new challenges with far-reaching implications. Among these, the risk of falls among older adults is particularly significant, affecting individual health and the quality of life, and placing an additional burden on healthcare systems. Existing fall detection systems often have limitations, including delays due to continuous server communication, high false-positive rates, low adoption rates due to wearability and comfort issues, and high costs. In response to these challenges, this work presents a reliable, wearable, and cost-effective fall detection system...
March 16, 2024: International Journal of Neural Systems
https://read.qxmd.com/read/38487091/gaitmap-an-open-ecosystem-for-imu-based-human-gait-analysis-and-algorithm-benchmarking
#18
JOURNAL ARTICLE
Arne Kuderle, Martin Ullrich, Nils Roth, Malte Ollenschlager, Alzhraa A Ibrahim, Hamid Moradi, Robert Richer, Ann-Kristin Seifer, Matthias Zurl, Raul C Simpetru, Liv Herzer, Dominik Prossel, Felix Kluge, Bjoern M Eskofier
Goal: Gait analysis using inertial measurement units (IMUs) has emerged as a promising method for monitoring movement disorders. However, the lack of public data and easy-to-use open-source algorithms hinders method comparison and clinical application development. To address these challenges, this publication introduces the gaitmap ecosystem, a comprehensive set of open source Python packages for gait analysis using foot-worn IMUs. Methods: This initial release includes over 20 state-of-the-art algorithms, enables easy access to seven datasets, and provides eight benchmark challenges with reference implementations...
2024: IEEE open journal of engineering in medicine and biology
https://read.qxmd.com/read/38475210/imus-can-estimate-hip-and-knee-range-of-motion-during-walking-tasks-but-are-not-sensitive-to-changes-in-load-or-grade
#19
JOURNAL ARTICLE
AuraLea Fain, Ayden McCarthy, Bradley C Nindl, Joel T Fuller, Jodie A Wills, Tim L A Doyle
The ability to estimate lower-extremity mechanics in real-world scenarios may untether biomechanics research from a laboratory environment. This is particularly important for military populations where outdoor ruck marches over variable terrain and the addition of external load are cited as leading causes of musculoskeletal injury As such, this study aimed to examine (1) the validity of a minimal IMU sensor system for quantifying lower-extremity kinematics during treadmill walking and running compared with optical motion capture (OMC) and (2) the sensitivity of this IMU system to kinematic changes induced by load, grade, or a combination of the two...
March 5, 2024: Sensors
https://read.qxmd.com/read/38475041/optimization-of-torque-control-model-for-quasi-direct-drive-knee-exoskeleton-robots-based-on-regression-forecasting
#20
JOURNAL ARTICLE
Yuxuan Xia, Wei Wei, Xichuan Lin, Jiaqian Li
The choice of torque curve in lower-limb enhanced exoskeleton robots is a key problem in the control of lower-limb exoskeleton robots. As a human-machine coupled system, mapping from sensor data to joint torque is complex and non-linear, making it difficult to accurately model using mathematical tools. In this research study, the knee torque data of an exoskeleton robot climbing up stairs were obtained using an optical motion-capture system and three-dimensional force-measuring tables, and the inertial measurement unit (IMU) data of the lower limbs of the exoskeleton robot were simultaneously collected...
February 26, 2024: Sensors
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