Description
TitleInertial measurement units for tracking human pose and motions
Date Created2018
Other Date2018-10 (degree)
Extent1 online resource (24 pages) : illustrations
DescriptionThis thesis presents the development of CAM, a Cranial Angle Monitor, using a Metawear Cpro
Inertial Measurement Unit (IMU). The goal of CAM is to measure static cranial position, so the
major task was to optimize the accuracy and stability of components of the IMU, by developing algorithms to compensate for errors. It was found that the gyroscope drift was linear, but varied
among IMUs and among axes. Gyroscope performance was measured during multiple test runs
under static conditions, to test the influence of several parameters, including, device, axis, run
time, orientation, and time between runs. Drifts between devices and the 3 angular axes were
tested and found to be inconsistent and could not be used for calibration. Other factors, including run duration, orientation, and time between runs, did not significantly influence repeatability, and
results were consistent within 1°/min. Static tests were done with the IMU sitting on a table or attached to a vertical surface. Dynamic tests were done with the IMU fixed to a robotic arm and
rotated 1 radian in each gyroscope axis individually to determine the sensor’s accuracy. While the
IMU proved highly accurate for dynamic motions, with < 0.33 degrees error, the inherent baseline drift of the gyroscope proved too large for static applications of hour long testing, such
as HoBE tracking in hospitals. These results provide the first systematic test of factors
influencing IMU accuracy in static and dynamic conditions for the CAM.
NoteM.S.
NoteIncludes bibliographical references
Noteby Casey Quinn LaCanna
Genretheses, ETD graduate
Languageeng
CollectionSchool of Graduate Studies Electronic Theses and Dissertations
Organization NameRutgers, The State University of New Jersey
RightsThe author owns the copyright to this work.
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