Estimating Three-Dimensional Orientation of Human Body Parts by Inertial/Magnetic Sensing
Open accessAbstract
User-worn sensing units composed of inertial and magnetic sensors are becoming increasingly popular in various domains, including biomedical engineering, robotics, virtual reality, where they can also be applied for real-time tracking of the orientation of human body parts in the three-dimensional (3D) space. Although they are a promising choice as wearable sensors under many respects, the inertial and magnetic sensors currently in use offer measuring performance that are critical in order to achieve and maintain accurate 3D-orientation estimates, anytime and anywhere. This paper reviews the main sensor fusion and filtering techniques proposed for accurate inertial/magnetic orientation tracking of human body parts; it also gives useful recipes for their actual implementation.
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Combining accelerometer, gyroscope, and magnetometer signals through data fusion algorithms can provide a reliable estimate of M/IMU orientation.
“By combining the signals of each sensor through intelligent data fusion algorithms, one can obtain a reliable estimate of M/IMU orientation.”
From Validity and Reliability of Wearable Sensors for Joint Angle Estimation: A Systematic Review (2019) · cites this paper as [9]
The weaknesses of each sensor in the estimation of joint kinematics could have separately impacted the accuracy/reliability of M/IMUs, as sensor fusion does not fully compensate for all sensor limitations.
“Another important aspect to consider, as discussed in the Materials and Methods section, is that the weaknesses of each sensor in the estimation of joint kinematics could have separately impacted the accuracy/reliability of M/IMUs as sensor fusion does not fully compensate for all sensors limitations [9].”
From Validity and Reliability of Wearable Sensors for Joint Angle Estimation: A Systematic Review (2019) · cites this paper as [9]
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- Authors
- Sabatini, A. M.
- Affiliations
- Scuola Superiore Sant'Anna (IT)
- Corresponding author
- Sabatini, Angelo Maria
- Venue
- Sensors
- Publisher
- MDPI AG
- Published
- 2011-01-26
- Volume
- 11
- Issue
- 2
- Pages
- 1489-1525
- ISSN
- 1424-8220 (ISSN-L)
- PMC
- PMC3274035
- OpenAlex
- W2150893603
- Cited by
- 349
- References
- 74
- Citations by year
- 2026: 31 · 2025: 18 · 2024: 20 · 2023: 21 · 2022: 20 · 2021: 35 · 2020: 32 · 2019: 27 · 2018: 36 · 2017: 23 · 2016: 26 · 2015: 17 · 2014: 19 · 2013: 14 · 2012: 6
- FWCI
- 4.43
- Type
- journal article
- Language
- en
- Open access
- gold
- doi.org
- Licence
- Locations
- Sensors (publishedVersion, cc-by)
- PubMed Central (publishedVersion, cc-by)
- PubMed (publishedVersion)
- DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion, cc-by-sa)
- CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies) (submittedVersion)
- CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies) (submittedVersion, cc-by-nc-nd)
- Topics
- Physical Sciences › Engineering › Aerospace Engineering › Inertial Sensor and Navigation
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Context-Aware Activity Recognition Systems
- Physical Sciences › Computer Science › Artificial Intelligence › Target Tracking and Data Fusion in Sensor Networks
- Keywords
- inertial sensors, magnetic sensors, 3D orientation estimation, wearable sensors, sensor fusion, filtering techniques, inertial measurement unit, magnetometer, orientation tracking
- MeSH terms
- Algorithms, Biomechanical Phenomena, Humans, Magnetics, Orientation, Human Body, Imaging, Three-Dimensional
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