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Upper Limb Position Tracking with a Single Inertial Sensor Using Dead Reckoning Method with Drift Correction Techniques

Bai, Lu, Pepper, Matthew G., Wang, Zhibao, Mulvenna, Maurice D, Bond, Raymond R, Finlay, Dewar, Zheng, Huiru (2023) Upper Limb Position Tracking with a Single Inertial Sensor Using Dead Reckoning Method with Drift Correction Techniques. Sensors, 23 (1). Article Number 360. ISSN 1424-8220. (doi:10.3390/s23010360) (KAR id:99941)


Inertial sensors are widely used in human motion monitoring. Orientation and position are the two most widely used measurements for motion monitoring. Tracking with the use of multiple inertial sensors is based on kinematic modelling which achieves a good level of accuracy when biomechanical constraints are applied. More recently, there is growing interest in tracking motion with a single inertial sensor to simplify the measurement system. The dead reckoning method is commonly used for estimating position from inertial sensors. However, significant errors are generated after applying the dead reckoning method because of the presence of sensor offsets and drift. These errors limit the feasibility of monitoring upper limb motion via a single inertial sensing system. In this paper, error correction methods are evaluated to investigate the feasibility of using a single sensor to track the movement of one upper limb segment. These include zero velocity update, wavelet analysis and high-pass filtering. The experiments were carried out using the nine-hole peg test. The results show that zero velocity update is the most effective method to correct the drift from the dead reckoning-based position tracking. If this method is used, then the use of a single inertial sensor to track the movement of a single limb segment is feasible.

Item Type: Article
DOI/Identification number: 10.3390/s23010360
Uncontrolled keywords: Wavelet analysis, Inertial Sensor, Dead Reckoning, High-pass Filter, Zero Velocity Update, Upper Limb Motion Monitoring, Upper Extremity, Humans, Movement, Motion, Biomechanical Phenomena
Subjects: Q Science
T Technology > TA Engineering (General). Civil engineering (General) > TA165 Engineering instruments, meters etc. Industrial instrumentation
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Funders: East Kent Hospitals University NHS Foundation Trust (
University of Kent (
SWORD Depositor: JISC Publications Router
Depositing User: JISC Publications Router
Date Deposited: 11 Apr 2023 15:10 UTC
Last Modified: 04 Mar 2024 16:06 UTC
Resource URI: (The current URI for this page, for reference purposes)

University of Kent Author Information

Pepper, Matthew G..

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