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Inertial measurement units (IMUs) increasingly function as a basic componentof wearable sensor network (WSN)systems. IMU-based joint angle estimation (JAE)is a relatively typical usage of IMUs, with extensive applications. However,the issue that IMUs move with respect to their original placement during JAE isstill a research gap, and limits the robustness of deploying the technique inreal-world application scenarios. In this study, we propose to detect andcorrect the IMU movement online in a relatively computationally lightweightmanner. Particularly, we first experimentally investigate the influence of IMUmovements. Second, we design the metrics for detecting IMU movements bymathematically formulating how the IMU movement affects the IMU measurements.Third, we determine the optimal thresholds of metrics by synthetic IMU datafrom a significantly amended simulation model. Finally, a correction method isproposed to correct the effects of IMU movements. We demonstrate our method onboth synthetic data and real-user data. The results demonstrate our method is apromising solution to detecting and correcting IMU movements during JAE.

Detecting and Correcting IMU Movements During Joint Angle Estimation