An Improved Constraint Relationship-Based Joint Angle Measurement Method

Abstract

AbstractFor the measurement of knee joint angle, on the one hand, it is necessary to ensure the simplicity and convenience of the measurement method. On the other hand, the accuracy of joint angle measurement results should be guaranteed. Based on the above requirements, the constraint relationship-based joint angle measurement method will be proposed. In this method, two wearable inertial sensors are required to collect the attitude information of the thigh and calf, and the constraint relationship-based joint angle measurement method is used to fuse the angular velocity data and the attitude data, which can effectively deal with noise. Finally, the knee joint angle is calculated using the filtered attitude data. The experimental results demonstrate that the constraint relationship-based joint angle measurement method can effectively reduce the knee joint angle measurement errors.KeywordsWearable inertial sensorKnee joint angleExtended Kalman filterQuaternion