Upper limb orientation assessment as an articulated body chain.

Upper limb orientation estimation based on Magnetic, Angular Rate, and Gravity sensors considering multiple body segments is presented in this work. The proposal allowed assessing the activity of two or more body segments individually and jointly, regardless of their spatial relationship. A custom-made system was developed incorporating a complementary filter and a proportional-integral control for data sensor merging and, noise and instrumentation error reduction.

PD Control Compensation Based on a Cascade Neural Network Applied to a Robot Manipulator.

A Proportional Integral Derivative (PID) controller is commonly used to carry out tasks like position tracking in the industrial robot manipulator controller; however, over time, the PID integral gain generates degradation within the controller, which then produces reduced stability and bandwidth. A proportional derivative (PD) controller has been proposed to deal with the increase in integral gain but is limited if gravity is not compensated for. In practice, the dynamic system non-linearities frequently are unknown or hard to obtain.

Evaluation of suitability of a micro-processing unit of motion analysis for upper limb tracking.

The aim of this study is to assess the suitability of a micro-processing unit of motion analysis (MPUMA), for monitoring, reproducing, and tracking upper limb movements. The MPUMA is based on an inertial measurement unit, a 16-bit digital signal controller and a customized algorithm. To validate the performance of the system, simultaneous recordings of the angular trajectory were performed with a video-based motion analysis system.