Next Article in Journal
Landmark-Based Inertial Navigation System for Autonomous Navigation of Missile Platform
Previous Article in Journal
Enabling Medicine Reuse Using a Digital Time Temperature Humidity Sensor in an Internet of Pharmaceutical Things Concept
Previous Article in Special Issue
Wearable Sensor-Based Gait Analysis for Age and Gender Estimation
Open AccessArticle

An Open-Source 7-DOF Wireless Human Arm Motion-Tracking System for Use in Robotics Research

1
School of Engineering and Digital Sciences, Nazarbayev University, Nur-Sultan Z05H0P9, Kazakhstan
2
Department of Computer Science, National University of Singapore, Singapore 117417, Singapore
3
School of Electronic Engineering and Computer Science, Queen Mary University of London, London E1 4NS, UK
*
Author to whom correspondence should be addressed.
These authors contributed equally to this research while being previously with Nazarbayev University, Nur-Sultan, Kazakhstan.
Sensors 2020, 20(11), 3082; https://doi.org/10.3390/s20113082
Received: 10 April 2020 / Revised: 6 May 2020 / Accepted: 12 May 2020 / Published: 29 May 2020
(This article belongs to the Special Issue Inertial Sensors for Activity Recognition and Classification)
To extend the choice of inertial motion-tracking systems freely available to researchers and educators, this paper presents an alternative open-source design of a wearable 7-DOF wireless human arm motion-tracking system. Unlike traditional inertial motion-capture systems, the presented system employs a hybrid combination of two inertial measurement units and one potentiometer for tracking a single arm. The sequence of three design phases described in the paper demonstrates how the general concept of a portable human arm motion-tracking system was transformed into an actual prototype, by employing a modular approach with independent wireless data transmission to a control PC for signal processing and visualization. Experimental results, together with an application case study on real-time robot-manipulator teleoperation, confirm the applicability of the developed arm motion-tracking system for facilitating robotics research. The presented arm-tracking system also has potential to be employed in mechatronic system design education and related research activities. The system CAD design models and program codes are publicly available online and can be used by robotics researchers and educators as a design platform to build their own arm-tracking solutions for research and educational purposes. View Full-Text
Keywords: human arm motion-tracking; inertial sensing and data processing; robot teleoperation; open-source design human arm motion-tracking; inertial sensing and data processing; robot teleoperation; open-source design
Show Figures

Figure 1

MDPI and ACS Style

Shintemirov, A.; Taunyazov, T.; Omarali, B.; Nurbayeva, A.; Kim, A.; Bukeyev, A.; Rubagotti, M. An Open-Source 7-DOF Wireless Human Arm Motion-Tracking System for Use in Robotics Research. Sensors 2020, 20, 3082.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Search more from Scilit
 
Search
Back to TopTop