Human Arm Motion Tracking by Inertial/Magnetic Sensors Using Unscented Kalman Filter and Relative Motion Constraint

  title={Human Arm Motion Tracking by Inertial/Magnetic Sensors Using Unscented Kalman Filter and Relative Motion Constraint},
  author={Arash Atrsaei and Hassan Salarieh and Aria Alasty and Mohammad Abediny},
  journal={Journal of Intelligent \& Robotic Systems},
Human motion tracking has many applications in biomedical and industrial services. Low-cost inertial/magnetic sensors are widely used in human motion capture systems to obtain the orientation of the human body segments. In this paper, we have presented a quaternion-based unscented Kalman filter algorithm to fuse inertial/magnetic sensors measurements for tracking human arm movements. In order to have a better estimation of the orientation of the forearm and the upper arm, a constraint equation… 

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