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Complementary Observer for Body Segments Motion Capturing by Inertial and Magnetic Sensors
Fourati H., Manamanni N., Afilal L., Handrich Y.
IEEE/ASME Transactions on Mechatronics (2013) Pages. xx - http://hal.archives-ouvertes.fr/hal-00690145
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Complementary Observer for Body Segments Motion Capturing by Inertial and Magnetic Sensors
Hassen Fourati ()1, 2, Noureddine Manamanni ()3, Lissan Afilal ()3, Yves Handrich ()4
1:  INRIA Grenoble Rhône-Alpes / Gipsa-lab - NeCS
CNRS : UMR5216 – INRIA – Gipsa-lab – Université Joseph Fourier - Grenoble I – Institut National Polytechnique de Grenoble (INPG)
INRIA Rhône-Alpes Montbonnot 38 334 Saint Ismier France Gipsa-lab Domaine universitaire 38402 Saint Martin d'Hères France
2:  GIPSA-lab - Grenoble Images Parole Signal Automatique
CNRS : UMR5216 – Université Joseph Fourier - Grenoble I – Université Pierre-Mendès-France - Grenoble II – Université Stendhal - Grenoble III – Institut Polytechnique de Grenoble - Grenoble Institute of Technology
Gipsa-lab - 961 rue de la Houille Blanche - BP 46 - 38402 Grenoble cedex
3:  CRESTIC - Centre de Recherche en Sciences et Technologies de l'Information et de la Communication
Université de Reims - Champagne Ardenne
UFR Sciences Exactes et Naturelles Moulin de la Housse BP 1039 51687 Reims CEDEX 2 FRANCE
4:  DEPE-IPHC - Département Ecologie, Physiologie et Ethologie
CNRS : UMR7178 – Université de Strasbourg
23, rue Becquerel 67087 Strasbourg Cedex 2
This paper presents a viable quaternion-based complementary observer (CO) that is designed for rigid body attitude estimation. We claim that this approach is an alternative one to overcome the limitations of the extended Kalman filter. The CO processes data from a small inertial/magnetic sensor module containing triaxial angular rate sensors, accelerometers, and magnetometers, without resorting to GPS data. The proposed algorithm incorporates a motion kinematic model and adopts a two-layer filter architecture. In the latter, the Levenberg Marquardt algorithm preprocesses acceleration and local magnetic field measurements, to produce what will be called the system's output. The system's output together with the angular rate measurements will become measurement signals for the CO. In this way, the overall CO design is greatly simplified. The efficiency of the CO is experimentally investigated through an industrial robot and a commercial IMUduring human segment motion exercises. These results are promising for human motion applications, in particular future ambulatory monitoring.

IEEE/ASME Transactions on Mechatronics
Publisher Institute of Electrical and Electronics Engineers (IEEE)
ISSN 1083-4435 
Article in peer-reviewed journal
Pages. xx

Complementary observer (CO) – inertialmeasure ment unit (IMU) – motion capture – quaternion – wearable MEMS sensors.

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