Inertial Measurement Unit Data Research Articles

A Residual Deep Learning Method for Accurate and Efficient Recognition of Gym Exercise Activities Using Electromyography and IMU Sensors

The accurate and efficient recognition of gym workout activities using wearable sensors holds significant implications for assessing fitness levels, tailoring personalized training regimens, and overseeing rehabilitation progress. This study introduces CNN-ResBiGRU, a novel deep learning architecture that amalgamates residual and hybrid methodologies, aiming to precisely categorize gym exercises based on multimodal sensor data. The primary goal of this model is to effectively identify various gym workouts by integrating convolutional neural networks, residual connections, and bidirectional gated recurrent units. Raw electromyography and inertial measurement unit data collected from wearable sensors worn by individuals during strength training and gym sessions serve as inputs for the CNN-ResBiGRU model. Initially, convolutional neural network layers are employed to extract unique features in both temporal and spatial dimensions, capturing localized patterns within the sensor outputs. Subsequently, the extracted features are fed into the ResBiGRU component, leveraging residual connections and bidirectional processing to capture the exercise activities’ long-term temporal dependencies and contextual information. The performance of the proposed model is evaluated using the Myogym dataset, comprising data from 10 participants engaged in 30 distinct gym activities. The model achieves a classification accuracy of 97.29% and an F1-score of 92.68%. Ablation studies confirm the effectiveness of the convolutional neural network and ResBiGRU components. The proposed hybrid model uses wearable multimodal sensor data to accurately and efficiently recognize gym exercise activity.

IMU Data-Driven and PCA-Based Approach to Establish Quantifiable and Practically Applicable Measures for V2 Technique Elements in Cross-Country Skiing.

Quantifying movement coordination in cross-country (XC) skiing, specifically the technique with its elemental forms, is challenging. Particularly, this applies when trying to establish a bidirectional transfer between scientific theory and practical experts' knowledge as expressed, for example, in ski instruction curricula. The objective of this study was to translate 14 curricula-informed distinct elements of the V2 ski-skating technique (horizontal and vertical posture, lateral tilt, head position, upper body rotation, arm swing, shoulder abduction, elbow flexion, hand and leg distance, plantar flexion, ski set-down, leg push-off, and gliding phase) into plausible, valid and applicable measures to make the technique training process more quantifiable and scientifically grounded. Inertial measurement unit (IMU) data of 10 highly experienced XC skiers who demonstrated the technique elements by two extreme forms each (e.g., anterior versus posterior positioning for the horizontal posture) were recorded. Element-specific principal component analyses (PCAs)-driven by the variance produced by the technique extremes-resulted in movement components that express quantifiable measures of the underlying technique elements. Ten measures were found to be sensitive in distinguishing between the inputted extreme variations using statistical parametric mapping (SPM), whereas for four elements the SPM did not detect differences (lateral tilt, plantar flexion, ski set-down, and leg push-off). Applicability of the established technique measures was determined based on quantifying individual techniques through them. The study introduces a novel approach to quantitatively assess V2 ski-skating technique, which might help to enhance technique feedback and bridge the communication gap that often exists between practitioners and scientists.

Tai Chi Movement Recognition and Precise Intervention for the Elderly Based on Inertial Measurement Units and Temporal Convolutional Neural Networks.

(1) Background: The objective of this study was to recognize tai chi movements using inertial measurement units (IMUs) and temporal convolutional neural networks (TCNs) and to provide precise interventions for elderly people. (2) Methods: This study consisted of two parts: firstly, 70 skilled tai chi practitioners were used for movement recognition; secondly, 60 elderly males were used for an intervention study. IMU data were collected from skilled tai chi practitioners performing Bafa Wubu, and TCN models were constructed and trained to classify these movements. Elderly participants were divided into a precision intervention group and a standard intervention group, with the former receiving weekly real-time IMU feedback. Outcomes measured included balance, grip strength, quality of life, and depression. (3) Results: The TCN model demonstrated high accuracy in identifying tai chi movements, with percentages ranging from 82.6% to 94.4%. After eight weeks of intervention, both groups showed significant improvements in grip strength, quality of life, and depression. However, only the precision intervention group showed a significant increase in balance and higher post-intervention scores compared to the standard intervention group. (4) Conclusions: This study successfully employed IMU and TCN to identify Tai Chi movements and provide targeted feedback to older participants. Real-time IMU feedback can enhance health outcome indicators in elderly males.

Inertial Measurement Unit and Heart Rate Monitoring to Assess Cardiovascular Fitness of Manual Wheelchair Users during the Six-Minute Push Test.

Manual wheelchair users (MWUs) are prone to a sedentary life that can negatively affect their physical and cardiovascular health, making regular assessment important to identify appropriate interventions and lifestyle modifications. One mean of assessing MWUs' physical health is the 6 min push test (6MPT), where the user propels themselves as far as they can in six minutes. However, reliance on observer input introduces subjectivity, while limited quantitative data inhibit comprehensive assessment. Incorporating sensors into the 6MPT can address these limitations. Here, ten MWUs performed the 6MPT with additional sensors: two inertial measurement units (IMUs)-one on the wheelchair and one on the wrist together with a heart rate wristwatch. The conventional measurements of distance and laps were recorded by the observer, and the IMU data were used to calculate laps, distance, speed, and cadence. The results demonstrated that the IMU can provide the metrics of the traditional 6MPT with strong significant correlations between calculated laps and observer lap counts (r = 0.947, p < 0.001) and distances (r = 0.970, p < 0.001). Moreover, heart rate during the final minute was significantly correlated with calculated distance (r = 0.762, p = 0.017). Enhanced 6MPT assessment can provide objective, quantitative, and comprehensive data for clinicians to effectively inform interventions in rehabilitation.

Wavelet Transform-Based Inertial Neural Network for Spatial Positioning Using Inertial Measurement Units

As the demand for spatial positioning continues to grow, positioning methods based on inertial measurement units (IMUs) are emerging as a promising research topic due to their low cost and robustness against environmental interference. These methods are particularly well suited for global navigation satellite system (GNSS)-denied environments and challenging visual scenarios. While existing algorithms for position estimation using IMUs have demonstrated some effectiveness, there is still significant room for improvement in terms of estimation accuracy. Current approaches primarily treat IMU data as simple time series, neglecting the frequency-domain characteristics of IMU signals. This paper emphasizes the importance of frequency-domain information in IMU signals and proposes a novel neural network, WINNet (Wavelet Inertial Neural Network), which integrates time- and frequency-domain signals using a wavelet transform for spatial positioning with inertial sensors. Additionally, we collected ground-truth data using a LiDAR setup and combined it with the TLIO dataset to form a new IMU spatial positioning dataset. The experimental results demonstrate that our proposed method outperforms the current state-of-the-art inertial neural network algorithms in terms of the ATE, RTE, and drift error metrics overall.

Decision Tree-Based Direction Detection Using IMU Data in Autonomous Robots

Location detection plays a crucial role in various applications. In this study, a machine learning (ML) method using inertial measurement unit (IMU) data was developed to determine direction with the Global Positioning System (GPS). In this study, an electronic board was designed using an Arduino Mega, Altimu-10 IMU sensor, GPS module, and SD card module. This electronic board was placed on a car to create a new dataset. This dataset consists of 1952x11 data. The dataset was obtained using accelerometer (x, y, z), gyroscope (x, y, z), compass (x, y, z), and GPS sensor data. The Decision Tree Algorithm was proposed for direction determination in this study. The angles between each position and the previous position were calculated using the latitude and longitude values obtained from the collected data. Then, the data were divided into 4 classes: North, East, South, and West, based on specific angle ranges. Finally, a direction detection model was developed using IMU data in the proposed method, achieving an accuracy of approximately 82.11%.

Data-Driven Machine Fault Diagnosis of Multisensor Vibration Data Using Synchrosqueezed Transform and Time-Frequency Image Recognition with Convolutional Neural Network

Accurate vibration classification using inertial measurement unit (IMU) data is critical for various applications such as condition monitoring and fault diagnosis. This study proposes a novel convolutional neural network (CNN) based approach, the IMU6DoF-SST-CNN in six variants, for robust vibration classification. The method utilizes Fourier synchrosqueezed transform (FSST) and wavelet synchrosqueezed transform (WSST) for time-frequency analysis, effectively capturing the temporal and spectral characteristics of the vibration data. Additionally, was used the IMU6DoF-SST-CNN to explore three different fusion strategies for sensor data to combine information from the IMU’s multiple axes, allowing the CNN to learn from complementary information across various axes. The efficacy of the proposed method was validated using three datasets. The first dataset consisted of constant fan velocity data (three classes: idle, normal operation, and fault) at 200 Hz. The second dataset contained variable fan velocity data (also with three classes: normal operation, fault 1, and fault 2) at 2000 Hz. Finally, a third dataset of Case Western Reserve University (CWRU) comprised bearing fault data with thirteen classes, sampled at 12 kHz. The proposed method achieved a perfect validation accuracy for the investigated vibration classification task. While all variants of the method achieved high accuracy, a trade-off between training speed and image generation efficiency was observed. Furthermore, FSST demonstrated superior localization capabilities compared to traditional methods like continuous wavelet transform (CWT) and short-time Fourier transform (STFT), as confirmed by image representations and interpretability analysis. This improved localization allows the CNN to effectively capture transient features associated with faults, leading to more accurate vibration classification. Overall, this study presents a promising and efficient approach for vibration classification using IMU data with the proposed IMU6DoF-SST-CNN method. The best result was obtained for IMU6DoF-SST-CNN with FSST and sensor-type fusion.

Prediction of brake pad wear and remaining useful life considering varying vehicle mass and an experimental holistic approach

Estimation of passenger car brake pad wear is considered, including real-time mass estimation to account for variations in vehicle mass. A longitudinal dynamics model is used to estimate mass, the application of the brakes, and a longitudinal braking force. Wear is modelled from brake work based on the product of the braking force and distance travelled during braking. Data is provided by standard vehicle on-board diagnostics data and a sensor fusion based on an inertial measurement unit and satellite position data, sampled from a single car with 10,200 km of on-road driving, including 31 brake pad wear measurement samples, and driving with up to 23% increased vehicle mass. The mass is accurately estimated within ±5% of the actual. Braking states determined from comparisons of measured and modelled deceleration provide accuracies of ≈91%, precisions of ≈96%, and recall rates of ≈86%, with inclusion of varying mass only resulting in minor differences. Brake work is estimated with (a) constant mass, (b) estimated mass, (c) actual mass, and (d) actual mass and braking states. Compared to (a), (b) and (c) provide 9% and 11% increased work, while (d) provides an increase of about 5% compared to (c). Wear coefficients are fitted on the initial half of the wear data considering (a), (b), and (d). Here (a) and (b) provide similar wear rates of k≈−1.22 mm/GJ, while (d) is about 5% lower. Validating on the second half of the data, (b) and (d) provide very similar wear estimates, with overall lower errors than (a). At the final sample, however, (a) provides a slightly lower absolute error, overestimating the wear by about 2%, while (b) and (d) underestimate it by about 3%. RUL, in terms of distance, is estimated across about 9,500 km of data by estimating a running ratio between cumulated work and distance. Here only (a) and (b) are considered, with (a) overestimating the RUL by 600 km at the actual wear limit, while (b) underestimates it by 190 km. A distance-based model is also considered, resulting in a constant RUL error of about 2,000 km.

Slope estimation based on multi-source information fusion

Abstract This study presents a novel methodology for slope estimation, addressing limitations in current unidirectional estimation research. A comprehensive vehicle kinematics and dynamics model is developed using Inertial Measurement Unit (IMU) data, enabling a thorough assessment of vehicle slope. The proposal advocates employing the Interactive Multiple Model Unscented Kalman Filter algorithm to enhance algorithmic stability and prevent divergence from singular model errors. This approach ensures precise computation of dynamic slopes. The algorithm’s efficacy is demonstrated through collaborative simulations on the CarSim/Simulink platform. Introducing innovative concepts and methods for slope estimation, this research has significant practical and theoretical implications.

Camera-IMU extrinsic calibration method based on intermittent sampling and RANSAC optimization

Accurately calibrate the extrinsic parameters between a camera and an Inertial Measurement Unit (IMU) is a prerequisite for achieving sensor data fusion in visual-inertial navigation systems. Due to delays introduced by triggering, transmission, and other factors, the sampled times of the camera and IMU do not align with the system timestamps, leading to a decrease in the accuracy of extrinsic calibration. Existing calibration methods are unable to avoid the temporal misalignment between the camera and IMU. This paper introduces a novel intermittent calibration sampling method to address temporal misalignment challenges. The approach entails detecting motion-stillness transition points in the IMU data as keyframe segmentation criteria, thereby decoupling data acquisition from system timestamps and aligning it with the sensor’s motion process. Subsequently, the robot hand-eye calibration method is applied to the extrinsic calibration of the Camera-IMU, combining the Random Sample Consensus algorithm to filter the poses of the camera and IMU. This process achieves precise calibration of extrinsic parameters. Experimental validation shows that the algorithm proposed in this paper enhances calibration accuracy when compared to the widely used Kalibr Camera-IMU calibration toolbox. The rotational extrinsic parameter accuracy increased by 181.25%, and the translational extrinsic parameter accuracy improved by 168.33%. These findings provide effective technical means for precise measurement of Camera-IMU extrinsic parameters.

Research on a Low-Cost High-Precision Positioning System for Orchard Mowers

To regulate the energy flow in orchard ecosystems and maintain the environment, weeding has become a necessary measure for fruit farmers, and the use of automated mowers can help reduce labor costs and improve the economic efficiency of orchards. However, due to the complexity of the geographic and spatial environment of the orchard, in particular, the loose and undulating road surface, the interference of satellite signals by large trees, etc., which decreases the positioning accuracy and stability of the positioning system of the mower, and the high cost of the sensor also affect the popularization of intelligent mowers for these applications. To address the above problems, this paper constructs a positioning system through a low-cost global navigation satellite system (GNSS), inertial measurement unit (IMU), and odometry, and utilizes the Kalman filter algorithm based on the error state for a combined GNSS/IMU positioning so that the inertial navigation system can maintain a more accurate positioning when the GNSS signals are poor. Considering the side-slip and error accumulation problems of the odometry of the traction mower, the combined GNSS/IMU positioning information is used to optimize the odometry model and improve the navigation and positioning accuracy. To reduce the measurement error of the IMU and the problem of error accumulation, this paper utilizes the nonholonomic constraint (NHC) of a lawn mower to suppress the dispersion of IMU measurement errors and constructs periodic and nonperiodic zero-velocity updating (ZUPT) strategies in combination with the travel paths of lawn mower navigation operations in the region to update the IMU data to improve the positioning accuracy and stability of the positioning system. The experiments show that the average error of the constructed positioning system is controlled within 0.15 m, the maximum error is maintained at approximately 0.3 m, and the positioning system constructed by using low-cost sensors can achieve a positioning accuracy similar to that of the differential global navigation satellite system (DGNSS), which is beneficial for the promotion and application of intelligent mowers in orchards.

3D Indoor Position Estimation Based on a UDU Factorization Extended Kalman Filter Structure Using Beacon Distance and Inertial Measurement Unit Data.

The development of the GPS (Global Positioning System) and related advances have made it possible to conceive of an outdoor positioning system with great accuracy; however, for indoor positioning, more efficient, reliable, and cost-effective technology is required. There are a variety of techniques utilized for indoor positioning, such as those that are Wi-Fi, Bluetooth, infrared, ultrasound, magnetic, and visual-marker-based. This work aims to design an accurate position estimation algorithm by combining raw distance data from ultrasonic sensors (Marvelmind Beacon) and acceleration data from an inertial measurement unit (IMU), utilizing the extended Kalman filter (EKF) with UDU factorization (expressed as the product of a triangular, a diagonal, and the transpose of the triangular matrix) approach. Initially, a position estimate is calculated through the use of a recursive least squares (RLS) method with a trilateration algorithm, utilizing raw distance data. This solution is then combined with acceleration data collected from the Marvelmind sensor, resulting in a position solution akin to that of the GPS. The data were initially collected via the ROS (Robot Operating System) platform and then via the Pixhawk development card, with tests conducted using a combination of four fixed and one moving Marvelmind sensors, as well as three fixed and one moving sensors. The designed algorithm is found to produce accurate results for position estimation, and is subsequently implemented on an embedded development card (Pixhawk). The tests showed that the designed algorithm gives accurate results with centimeter precision. Furthermore, test results have shown that the UDU-EKF structure integrated into the embedded system is faster than the classical EKF.

L-PCM: Localization and Point Cloud Registration-Based Method for Pose Calibration of Mobile Robots

The autonomous navigation of mobile robots contains three parts: map building, global localization, and path planning. Precise pose data directly affect the accuracy of global localization. However, the cumulative error problems of sensors and various estimation strategies cause the pose to have a large gap in data accuracy. To address these problems, this paper proposes a pose calibration method based on localization and point cloud registration, which is called L-PCM. Firstly, the method obtains the odometer and IMU (inertial measurement unit) data through the sensors mounted on the mobile robot and uses the UKF (unscented Kalman filter) algorithm to filter and fuse the odometer data and IMU data to obtain the estimated pose of the mobile robot. Secondly, the AMCL (adaptive Monte Carlo localization) is improved by combining the UKF fusion model of the IMU and odometer to obtain the modified global initial pose of the mobile robot. Finally, PL-ICP (point to line-iterative closest point) point cloud registration is used to calibrate the modified global initial pose to obtain the global pose of the mobile robot. Through simulation experiments, it is verified that the UKF fusion algorithm can reduce the influence of cumulative errors and the improved AMCL algorithm can optimize the pose trajectory. The average value of the position error is about 0.0447 m, and the average value of the angle error is stabilized at about 0.0049 degrees. Meanwhile, it has been verified that the L-PCM is significantly better than the existing AMCL algorithm, with a position error of about 0.01726 m and an average angle error of about 0.00302 degrees, effectively improving the accuracy of the pose.

Effects of static exercises on hip muscle fatigue and knee wobble assessed by surface electromyography and inertial measurement unit data

Hip muscle weakness can be a precursor to or a result of lower limb injuries. Assessment of hip muscle strength and muscle motor fatigue in the clinic is important for diagnosing and treating hip-related impairments. Muscle motor fatigue can be assessed with surface electromyography (sEMG), however sEMG requires specialized equipment and training. Inertial measurement units (IMUs) are wearable devices used to measure human motion, yet it remains unclear if they can be used as a low-cost alternative method to measure hip muscle fatigue. The goals of this work were to (1) identify which of five pre-selected exercises most consistently and effectively elicited muscle fatigue in the gluteus maximus, gluteus medius, and rectus femoris muscles and (2) determine the relationship between muscle fatigue using sEMG sensors and knee wobble using an IMU device. This work suggests that a wall sit and single leg knee raise activity fatigue the gluteus medius, gluteus maximus, and rectus femoris muscles most reliably (p < 0.05) and that the gluteus medius and gluteus maximus muscles were fatigued to a greater extent than the rectus femoris (p = 0.031 and p = 0.0023, respectively). Additionally, while acceleration data from a single IMU placed on the knee suggested that more knee wobble may be an indicator of muscle fatigue, this single IMU is not capable of reliably assessing fatigue level. These results suggest the wall sit activity could be used as simple, static exercise to elicit hip muscle fatigue in the clinic, and that assessment of knee wobble in addition to other IMU measures could potentially be used to infer muscle fatigue under controlled conditions. Future work examining the relationship between IMU data, muscle fatigue, and multi-limb dynamics should be explored to develop an accessible, low-cost, fast and standardized method to measure fatiguability of the hip muscles in the clinic.

A comprehensive dataset on biomechanics and motor control during human walking with discrete mechanical perturbations.

Humans have a remarkable capability to maintain balance while walking. There is, however, a lack of publicly available research data on reactive responses to destabilizing perturbations during gait. Here, we share a comprehensive dataset collected from 10 participants who experienced random perturbations while walking on an instrumented treadmill. Each participant performed six 5-min walking trials at a rate of 1.2 m/s, during which rapid belt speed perturbations could occur during the participant's stance phase. Each gait cycle had a 17% probability of being perturbed. The perturbations consisted of an increase of belt speed by 0.75 m/s, delivered with equal probability at 10%, 20%, 30%, 40%, 50%, 60%, 70%, or 80% of the stance phase. Data were recorded using motion capture with 25 markers, eight inertial measurement units (IMUs), and electromyography (EMG) from the tibialis anterior (TA), soleus (SOL), lateral gastrocnemius (LG), rectus femoris (RF), vastus lateralis (VL), vastus medialis (VM), biceps femoris (BF), and gluteus maximus (GM). The full protocol is described in detail. We provide marker trajectories, force plate data, EMG data, and belt speed information for all trials and participants. IMU data is provided for most participants. This data can be useful for identifying neural feedback control in human gait, biologically inspired control systems for robots, and the development of clinical applications.

Spring-Damped Underactuated Swashplateless Rotor on a Bicopter Unmanned Aerial Vehicle

The stabilisation capabilities of unmanned aerial vehicles (UAVs) with bicopter underactuated swashplateless rotors are highly sensitive to motor-induced vibration. Due to the requirement of the active control of underactuated swashplateless rotors, conventional designs are limited in reducing vibration through control optimisation. A solution with customized passive spring-damping structures on a unique underactuated swashplateless rotor of a tiltrotor bicopter platform is presented. The implementation of this structure effectively reduces the self-coherent vibration in flights. As a result, a higher level of control authority has been achieved without setting excessive low-pass filtering for vibration. Experimentally obtained inertial measurement unit (IMU) data, rotor speed, rotor tilt angle, and the cyclic stator response are presented for comparison with Simulink model predictions.

Behavior classification and spatiotemporal analysis of grazing sheep using deep learning

Monitoring multiple behavioral patterns and grazing trajectories of individual sheep can provide valuable information for various aspects of livestock production. The emergence of low-cost miniature sensors, coupled with the continuous advancement of deep learning technologies, has ushered in a new generation of intelligent solutions for precision livestock farming. This study aims to explore the deployment methods of motion sensors, selection of data collection frequencies, and choice of deep learning algorithms to provide accurate classification of multiple behaviors in grazing sheep. Based on this, in conjunction with the acquired location information, the goal is to comprehend the spatiotemporal distribution of grazing sheep behaviors. Devices capable of collecting Inertial Measurement Unit (IMU) and location data were attached to the jaw, neck, and hind leg of sheep. Four datasets were created using IMU data with a frequency of 20 Hz and a 5 s time window from different positions (neck, neck & leg, jaw, jaw & leg). Two deep learning models, Convolutional Neural Network (CNN) - Long Short Term Memory (LSTM) and Temporal Convolutional Network (TCN)-Transformer, were employed to classify six grazing sheep behaviors: walking, standing, grazing, lying, standing-ruminating, and lying-ruminating. The results indicate that by fusing data from the neck- and leg-mounted devices and utilizing the CNN-LSTM model, the accuracy reached the highest at 99.3 %. Furthermore, a comparison was made regarding the behavior classification accuracy of this fused data at different IMU data frequencies (20, 10, 5, and 1 Hz). It was found that even when the data frequency was reduced to 1 Hz, the classification accuracy for the six sheep behaviors still exceeded 96 %. Additionally, the trained model with the highest accuracy was applied to monitoring grazing sheep behavior under two different management procedures. Further analysis of the time budgets of sheep behavior revealed differences in the durations of behaviors under different management procedures. For extensively grazing sheep, location information was also monitored and combined with behavior classification results to generate the spatiotemporal distribution of sheep behavior. The technologies presented are important for gaining further insights into the health status of grazing livestock and grassland, thereby enhancing grazing management practices by informing grazing choices and optimizing grassland utilization.

PAL-SLAM2: Visual and visual–inertial monocular SLAM for panoramic annular lens

This paper presents PAL-SLAM2, a visual and visual–inertial monocular simultaneous localization and mapping (SLAM) system for a panoramic annular lens (PAL) with an ultra-hemispherical field of view (FoV), overcoming the limitations of traditional frameworks in handling fast turns, nighttime conditions and rapid lighting changes. The system incorporates modules for initialization, tracking, local mapping, loop and map merging. To fully exploit information from the negative space (z<0), keypoints are projected onto the unit sphere for visual initialization and tightly-coupled visual–inertial optimization. Leveraging a multimap strategy, the feature-based PAL-SLAM2 is capable of detecting unidirectional and bidirectional public areas using PAL images, thereby enhancing the performance of loop correction and map merging. Testing indicates that it achieves an average accuracy of 7.1 cm on the PALVIO indoor dataset, surpassing similar state-of-the-art frameworks. Furthermore, we have collected a large-scale dataset comprising over 120,000 images with corresponding inertial measurement unit (IMU) data, demonstrating PAL-SLAM2’s robustness under challenging outdoor conditions. Relying solely on visual and inertial inputs, our system is particularly suited for environments where Global Navigation Satellite System (GNSS) signals are frequently obstructed, such as indoor spaces or dense urban areas. The dataset can be accessed at: https://github.com/wwendy233/Plaza-Dataset.

Development and evaluation of the ARM algorithm: A novel approach to quantify musculoskeletal disorder risk factors in manual wheelchair users in the real world.

This study aimed to develop and evaluate the ARM (arm repetitive movement) algorithm using inertial measurement unit (IMU) data to assess repetitive arm motion in manual wheelchair (MWC) users in real-world settings. The algorithm was tested on community data from four MWC users with spinal cord injury and compared with video-based analysis. Additionally, the algorithm was applied to in-home and free-living environment data from two and sixteen MWC users, respectively, to assess its utility in quantifying differences across activities of daily living and between dominant and non-dominant arms. The ARM algorithm accurately estimated active and resting times (>98%) in the community and confirmed asymmetries between dominant and non-dominant arm usage in in-home and free-living environment data. Analysis of free-living environment data revealed that the total resting bout time was significantly longer (P = 0.049) and total active bout time was significantly shorter (P = 0.011) for the non-dominant arm. Analysis of active bouts longer than 10 seconds showed higher total time (P = 0.015), average duration (P = 0.026), and number of movement cycles per bout (P = 0.020) for the dominant side. These findings support the feasibility of using the IMU-based ARM algorithm to assess repetitive arm motion and monitor shoulder disorder risk factors in MWC users during daily activities.

VR interactive input system based on INS and binocular vision fusion

In virtual reality interactive input systems, real-time and accurate spatial position and pose measurement is key to achieving a natural user interface. This study explores the application of inertial measurement units and binocular vision fusion technology in virtual reality interactive input systems, with the aim of improving the tracking accuracy of the system through optimized pose models and visual algorithms. A virtual reality measurement technology that integrates inertial measurement units and binocular vision is proposed by using an improved Kalman filtering algorithm to process inertial measurement units data, and combining it with the SURF algorithm optimized binocular vision system. Experimental results showed that fusion technology could reduce sensor noise and bias, improve the accuracy of pose estimation, and promote stable and robust motion tracking in virtual reality systems. In the angle range of -90 ° to 90 °, the average absolute error of the fusion system compared to the simple inertial measurement units pose calculation decreased from 3.371 ° to 1.369 ° In the experiment of measuring distance with a binocular vision system, the average absolute error value decreased to 1.532 mm, and the error range of the marker within the distance range of 500 mm to 650 mm was controlled within -1.3 mm to 1.2 mm. This study provides an effective solution for achieving high-precision virtual reality interactive input systems and is meaningful for the advancement of virtual reality technology.