engleski

Inertial Sensor Based Identification of Human Movements

The scope of this paper is the presentation of experiments which involve measurements and identification of human movements by using the inertial sensors. We describe the purpose, design and obtained results of two experiments, as well as our future plans which include the exploration of the forces acting at spine segments by measurements with inertial sensors. The first experiment implemented the method for measuring the range of motion (RoM) of head in transverse plane (Kuzmanic, 2007). It was done in the Laboratory of Biomechanics and Automatic Control LaBACS, University of Split. In the second experiment we analyzed the standing up movement and we used the robot assistive device for the support of human while performing the standing up task. Measurements for purposes of this experiment were done in the Laboratory of Biomedical Engineering and Robotics, University of Ljubljana. We have proposed the new method which uses the Extended Kalman filtering for combining the data acquired from inertial sensor measurements of standing up movement with data from the dynamic human body model (Music, 2008). Our plans regarding the next experiment are focused on the identification of the spinal load during sitting and standing, by using the inertial sensors measurement system.

Inertial sensors; Head movement; Standing up movement; Kalman filtering; Spine load during sitting and standing.

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