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Sensors 2011, 11(2), 1489-1525; doi:10.3390/s110201489
Review

Estimating Three-Dimensional Orientation of Human Body Parts by Inertial/Magnetic Sensing

Received: 15 December 2010; in revised form: 13 January 2011 / Accepted: 15 January 2011 / Published: 26 January 2011
(This article belongs to the Special Issue Sensors in Biomechanics and Biomedicine)
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Abstract: User-worn sensing units composed of inertial and magnetic sensors are becoming increasingly popular in various domains, including biomedical engineering, robotics, virtual reality, where they can also be applied for real-time tracking of the orientation of human body parts in the three-dimensional (3D) space. Although they are a promising choice as wearable sensors under many respects, the inertial and magnetic sensors currently in use offer measuring performance that are critical in order to achieve and maintain accurate 3D-orientation estimates, anytime and anywhere. This paper reviews the main sensor fusion and filtering techniques proposed for accurate inertial/magnetic orientation tracking of human body parts; it also gives useful recipes for their actual implementation.
Keywords: human body motion tracking; inertial/magnetic sensing; strap-down inertial navigation; sensor fusion; Kalman filtering; quaternion human body motion tracking; inertial/magnetic sensing; strap-down inertial navigation; sensor fusion; Kalman filtering; quaternion
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Sabatini, A.M. Estimating Three-Dimensional Orientation of Human Body Parts by Inertial/Magnetic Sensing. Sensors 2011, 11, 1489-1525.

AMA Style

Sabatini AM. Estimating Three-Dimensional Orientation of Human Body Parts by Inertial/Magnetic Sensing. Sensors. 2011; 11(2):1489-1525.

Chicago/Turabian Style

Sabatini, Angelo Maria. 2011. "Estimating Three-Dimensional Orientation of Human Body Parts by Inertial/Magnetic Sensing." Sensors 11, no. 2: 1489-1525.



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