International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395 -0056
Volume: 04 Issue: 03 | Mar -2017
p-ISSN: 2395-0072
www.irjet.net
TRACKING LIMB MOTION USING INERTIAL MEASUREMENT UNITS (IMU) Ms. R .Lakshmi 1, G. Pranavraj2, D. Prince Santhanaraj3 ,R.V. Ranjith Kumar4, A. Vijayan5 1Assistant
Professor, Dept. of Information Technology,Valliammai Engineering College, Taminadu, India Dept. of Information Technology,Valliammai Engineering College, Taminadu ,India 3 Dept. of Information Technology,Valliammai Engineering College, Taminadu ,India 4 Dept. of Information Technology,Valliammai Engineering College, Taminadu ,India 5 Dept. of Information Technology,Valliammai Engineering College, Taminadu ,India
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Abstract - The system is provided with highly accurate
human body motion capture and interactive threedimensional by combining low cost MEMS inertial measurement units (IMU).It presents the development of a low cost wireless real-time inertial limb tracking system for virtual training. 9 Degrees of Freedom (DOF) Inertial Measurement Units (IMU) is used for tracking and sensing motion of any platform and is an ideal sensor system for motion control of aerial autonomous systems like multi-rotors, model airplanes, helicopters etc., and other systems that require to control the pitch, roll and yaw. The 9DOF Razor IMU incorporates three sensors - an ITG-3200 (MEMS triple-axis gyro), ADXL345 (triple-axis accelerometer), and HMC5883L (triple-axis magnetometer) - to give nine degrees of inertial measurement .The IMU sensors are placed on user’s body and limbs according to human skeletal action, and each sensor performs 9 degrees of freedom (DOF) tracking at a high-speed update rate. Secondly, the collected sensor data are transferred through Microcontroller. The inner communication between the Multipoint Control Unit (MCU) and the Inertial Measurement Unit (IMU) is through Inter-Integrated Circuit (I^2C). Finally The Inertial Measurement Units (IMU) sensor values are serially connected with Mat lab based PC Program for Motion detection. Key Words: — IMU, MEMS, Degrees Of Freedom, inertial limb tracking, Inter-Integrated circuit, IR Sensor, Multi point Control Unit. 1.INTRODUCTION The main idea is to accomplish the development of a low cost wireless real-time inertial limb tracking system for virtual training, which will make the Artificial limb to get the movement as normal leg motion, therefore affected humans can walk like a normal human and they can overcome the feel that they are handicapped. The rehabilitation of the motion in limb muscle plays the major role in Inertial Measurement Units. The monitoring of any rehabilitation program is desirable to ensure the correct execution of the © 2017, IRJET
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Impact Factor value: 5.181
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exercise by the patient and also to quantify the progress toward the recovery of muscle strength, endurance, and increase in the range of motion. Hip abduction/adduction, hip and knee extension are among the most popular and most effective rehabilitation exercises for improving lowerlimb muscle function and treating. Even when exercises are performed under supervision, often clinicians and physiotherapists use only visual, and thus subjective, observations of the human’s movement.
The system is designed to provide highly accurate human body motion capture and interactive three-dimensional by combining low cost MEMS inertial measurement units (IMUs).The 9DOF Razor IMU incorporates three sensors - an ITG-3200 (MEMS triple-axis gyro), ADXL345 (triple-axis accelerometer), and HMC5883L (triple-axis magnetometer) to give nine degrees of inertial measurement. The gyroscope and accelerometer provide information about accelerations in all three directions, and rotations around each axis. Gravity provides a background direction from the accelerometer, so short term movements can be tracked. However, in order to track the real position and orientation in space, the six-axis sensor is not quite efficient because small errors build up in each axis and over the time these errors can add up to a drift in the absolute direction. We can deal with this problem by adding one more. Absolute directional sensor called 3-axis magnetometer. The extra magnetic field information allows the sensing algorithms to compensate for small drifts over Much longer periods of time, so there is a very good chance of tracking the absolute change in position and orientation much more accurately and the location during complex movements can be measured and tracked precisely.
1.2 Existing system In the existing system, the usage of MEMS sensor will provide only 3-axis propagation, which is comfortable for human walking movements. The microcontroller used is Arduino board which posses high power consumption. Kinect sensor provides accuracy but it is more expensive. ISO 9001:2008 Certified Journal
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