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

DOI

10.2991/3ca-13.2013.108How to use a DOI?

Keywords

ata fusion; exoskeleton; inertial sensor; Kalman filter

Abstract

his 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.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jie Chen
AU  - Canjun Yang
AU  - Jens Hofschulte
PY  - 2013/04
DA  - 2013/04
TI  - Improvement of an Arm Exoskeleton by Data Fusion with an Inertial Measurement Unit
BT  - Proceedings of the 2nd International Symposium on Computer, Communication, Control and Automation
PB  - Atlantis Press
SP  - 445
EP  - 448
SN  - 1951-6851
UR  - https://doi.org/10.2991/3ca-13.2013.108
DO  - 10.2991/3ca-13.2013.108
ID  - Chen2013/04
ER  -