Human-in-the-Loop Assessment of an Ultralight, Low-Cost Body Posture Tracking Device.
assistive robotics
inertial measurement units
low-cost sensors
rehabilitation robotics
space robotics
teleoperation
wearable sensors
Journal
Sensors (Basel, Switzerland)
ISSN: 1424-8220
Titre abrégé: Sensors (Basel)
Pays: Switzerland
ID NLM: 101204366
Informations de publication
Date de publication:
07 Feb 2020
07 Feb 2020
Historique:
received:
17
12
2019
revised:
29
01
2020
accepted:
04
02
2020
entrez:
13
2
2020
pubmed:
13
2
2020
medline:
11
11
2020
Statut:
epublish
Résumé
In rehabilitation, assistive and space robotics, the capability to track the body posture of a user in real time is highly desirable. In more specific cases, such as teleoperated extra-vehicular activity, prosthetics and home service robotics, the ideal posture-tracking device must also be wearable, light and low-power, while still enforcing the best possible accuracy. Additionally, the device must be targeted at effective human-machine interaction. In this paper, we present and test such a device based upon commercial inertial measurement units: it weighs 575 grams in total, lasts up to 10.5 hours of continual operation, can be donned and doffed in under a minute and costs less than 290 EUR. We assess the attainable performance in terms of error in an online trajectory-tracking task in Virtual Reality using the device through an experiment involving 10 subjects, showing that an average user can attain a precision of 0.66 cm during a static precision task and 6.33 cm while tracking a moving trajectory, when tested in the full peri-personal space of a user.
Identifiants
pubmed: 32046129
pii: s20030890
doi: 10.3390/s20030890
pmc: PMC7039287
pii:
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Subventions
Organisme : Deutsche Forschungsgemeinschaft
ID : CA1389/1-1
Déclaration de conflit d'intérêts
Figure A2. Trajectory with error ellipsoids. The color shifts from red to green over time during target’s movement.
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