Joint angle estimation in rehabilitation with inertial sensors and its integration with Kinect

@article{Bo2011JointAE,
  title={Joint angle estimation in rehabilitation with inertial sensors and its integration with Kinect},
  author={Ant{\^o}nio Padilha Lanari Bo and Mitsuhiro Hayashibe and Philippe Poignet},
  journal={2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society},
  year={2011},
  pages={3479-3483}
}
In this paper, we explore the combined use of inertial sensors and the Kinect for applications on rehabilitation robotics and assistive devices. In view of the deficiencies of each individual system, a new method based on Kalman filtering was developed in order to perform online calibration of sensor errors automatically whenever measurements from Kinect are available. The method was evaluated on experiments involving healthy subjects performing multiple DOF tasks. 
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