Improvement of an Arm Exoskeleton by Data Fusion with an Inertial Measurement Unit

被引：0
作者：
Chen, Jie [1 ]
Yang, Canjun [1 ]
Hofschulte, Jens [2 ]
机构：
[1] Zhejiang Univ, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310003, Zhejiang, Peoples R China
[2] ABB Corp Res China, Shanghai, Peoples R China
来源：
PROCEEDINGS OF THE 2ND INTERNATIONAL SYMPOSIUM ON COMPUTER, COMMUNICATION, CONTROL AND AUTOMATION | 2013年 / 68卷
关键词：
data fusion; exoskeleton; inertial sensor; Kalman filter; DESIGN;
D O I：
暂无
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper aimed to improve the performance of a 7-DOFs arm exoskeleton in position measurement, so that it can be used for applications that require high-accuracy tracking ability, such as robot navigation. A data fusion method with an inertial measurement unit(IMU) using Kalman Filter is developed. With proper setup of the system the result of experiments show a significant improvement in position accuracy of the exoskeleton.
引用
收藏
页码：445 / 448
页数：4
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