PROJECT TITLE :

UWB-Aided Inertial Motion Capture for Lower Body 3-D Dynamic Activity and Trajectory Tracking

ABSTRACT:

This paper introduces a novel technique for simultaneous 3-D trajectory tracking and lower body motion capture (MoCap) under numerous dynamic activities like walking and jumping. The proposed methodology uses wearable inertial sensors fused with an ultrawideband localization system employing a cascaded Kalman filter-based sensor fusion algorithm, which consists of a separate orientation filter cascaded with a foothold/velocity filter. Still, to more improve the joint angle tracking accuracy, anatomical constraints are applied to the knee joint. Currently, accessible self-contained inertial tracking strategies are not only drift-prone over time however conjointly their accuracy is degraded below quick movements with unstable ground contact states because of the lack of external references. However, our experimental results, that benchmark the system against a reference camera-based motion tracking system, show that the proposed fusion technique will accurately capture the dynamic activities of a topic while not drift. The results show that the proposed system will maintain similar accuracies between quick and slow motions in lower body MoCap and three-D trajectory tracking. The obtained accuracies of the system for three-D body localization and knee joint angle tracking for quick motions were less than five cm and 2.one°, respectively.