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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 48323 (05)
- University: Sharif University of Technology
- Department: Electrical Engineering
- Advisor(s): Vosoughi Vahdat, Bijan; Parnianpour, Mohammad
- Abstract:
- The importance of the motion measurement systems is obvious due to survey the number of people who have joint pains through wrong movements. Considering the medical device’s trend toward wearable systems, the necessity of portable measurement instruments which are independent from experimental setup, is undeniable. Motion measurement systems based on MEMS Inertial sensors are widely used these days because they are cheap and portable. However these systems have some defects such as error accumulation and increasing error due to magnetic disturbance or high acceleration motions. Multisensory data fusion along with compensator filters is the best solution in order to reduce these errors. There are many researches in this area. Researchers fused accelerometer, gyroscope and magnetometer data and gain some promising results but each of them could not solve all the problems.In this research our goal was to fuse inertial sensors with another type of motion sensors in order to measure human joint angels accurately and solve mentioned problems around MEMS inertial systems. We used textile sensors for data fusion with inertial sensors. Three methods consists of Kalman filtering, artificial neural network and least mean square error filter were used to fuse inertial sensors, textile sensors and hybrid system respectively. The hybrid system was produced and tested on shoulder motions. The results showed that general accuracy improved from 3.01 degree (root mean square error for inertial sensors) to 1.58 degree (root mean square error for textile sensors). Also the accuracy in problematic situations such as long time test, magnetic disturbance and high acceleration motions was improved significantly
- Keywords:
- Data Fusion ; Inertial Sensor ; Textile Sensor ; Joint Angle ; Microelectromechanical Systems (MEMS)
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