Human Motion Capture and Identification for Assistive Systems Design in Rehabilitation

HUMAN MOTION CAPTURE AND IDENTIFICATION FOR ASSISTIVE SYSTEMS DESIGN IN REHABILITATION

A guide to the core ideas of human motion capture in a rapidly changing technological landscape

Human Motion Capture and Identification for Assistive Systems Design in Rehabilitation aims to fill a gap in the literature by providing a link between sensing, data analytics, and signal processing through the characterisation of movements of clinical significance. As noted experts on the topic, the authors apply an application-focused approach in offering an essential guide that explores various affordable and readily available technologies for sensing human motion.

The book attempts to offer a fundamental approach to the capture of human bio-kinematic motions for the purpose of uncovering diagnostic and severity assessment parameters of movement disorders. This is achieved through an analysis of the physiological reasoning behind such motions. Comprehensive in scope, the text also covers sensors and data capture and details their translation to different features of movement with clinical significance, thereby linking them in a seamless and cohesive form and introducing a new form of assistive device design literature. This important book:

• Offers a fundamental approach to bio-kinematic motions and the physiological reasoning behind such motions
• Includes information on sensors and data capture and explores their clinical significance
• Links sensors and data capture to parameters of interest to therapists and clinicians
• Addresses the need for a comprehensive coverage of human motion capture and identification for the purpose of diagnosis and severity assessment of movement disorders

Written for academics, technologists, therapists, and clinicians focusing on human motion, Human Motion Capture and Identification for Assistive Systems Design in Rehabilitation provides a holistic view for assistive device design, optimizing various parameters of interest to relevant audiences.

Auteur

Pubudu N. Pathirana, PhD is a Senior Member of the Institute of Electrical and Electronics Engineers (IEEE) and received his PhD in Electrical Engineering from the University of Western Australia. He was a Postdoctoral Research Fellow at Oxford University, Oxford, England; a Research Fellow at the School of Electrical Engineering and Telecommunications at the University of New South Wales, Sydney, Australia; and a consultant to the Defense Science and Technology Organization (DSTO). Currently, he is a Professor and the Director of the Networked Sensing and Control group at the School of Engineering, Deakin University, Geelong, Australia. His current research interests include bio-medical assistive device design, human motion capture, mobile/wireless networks, rehabilitation robotics, and radar array signal processing.

Saiyi Li, PhD received his PhD from Deakin University in 2016 through a sponsorship by the NICTA (National Information Communications Technology Australia, now Data61). His research interests include rehabilitation engineering, signal processing, and machine learning.

Yee Siong Lee, PhD received his PhD from the Deakin University in 2016 through a sponsorship by NICTA. His research interests include biomedical applications and signals processing, machine learning, operations research, sensors networks, and radar signal processing.

Trieu Pham, PhD received his PhD through a sponsorship by NICTA from Deakin University, Victoria, Australia in 2017. His research interests include machine learning, signal processing, computer aided rehabilitation, and kinematics of human motion.

Texte du rabat

A guide to the core ideas of human motion capture in a rapidly changing technological landscape

Human Motion Capture and Identification for Assistive Systems Design in Rehabilitation aims to fill a gap in the literature by providing a link between sensing, data analytics, and signal processing through the characterisation of movements of clinical significance. As noted experts on the topic, the authors apply an application-focused approach in offering an essential guide that explores various affordable and readily available technologies for sensing human motion.

The book attempts to offer a fundamental approach to the capture of human bio-kinematic motions for the purpose of uncovering diagnostic and severity assessment parameters of movement disorders. This is achieved through an analysis of the physiological reasoning behind such motions. Comprehensive in scope, the text also covers sensors and data capture and details their translation to different features of movement with clinical significance, thereby linking them in a seamless and cohesive form and introducing a new form of assistive device design literature. This important book:

• Offers a fundamental approach to bio-kinematic motions and the physiological reasoning behind such motions
• Includes information on sensors and data capture and explores their clinical significance
• Links sensors and data capture to parameters of interest to therapists and clinicians
• Addresses the need for a comprehensive coverage of human motion capture and identification for the purpose of diagnosis and severity assessment of movement disorders Written for academics, technologists, therapists, and clinicians focusing on human motion, Human Motion Capture and Identification for Assistive Systems Design in Rehabilitation provides a holistic view for assistive device design, optimizing various parameters of interest to relevant audiences.

Contenu

1 Introduction 9

1.1 Human Body - Kinematic Perspective 10

1.2 Musculoskeletal Injuries and Neurological Movement Disorders 11

1.2.1 Musculoskeletal injuries 11

1.2.2 Neuromascular disorders 12

1.3 Sensors in Tele-rehabilitation 15

1.3.1 Opto-electroic Sensing 15

1.3.2 RGB Camera and Microphone 20

1.3.3 Inertial Measurement Unit (IMU) 22

1.4 Model based state estimation and sensor fusion 24

1.4.1 Summary and challenges 24

1.5 Human Motion Encoding in Tele-rehabilitation 25

1.5.1 Human motion encoders in action recognition 25

1.5.2 Human motion encoder in physical tele-rehabilitation 26

1.5.3 Summary and challenge 27

1.6 Patients' Performance Evaluation 28

1.6.1 Questionnaire based assessment scales 28

1.6.2 Automated kinematic performance assessment 29

1.6.3 Summary and challenge 30

2 Kinematic Performance Evaluation with Non-wearable Sensors 31

2.1 Introduction 32

2.2 Fusion 32

2.2.1 Introduction 32

2.2.2 Linear Model of Human Motion Multi-Kinect System 34

2.2.3 Model-based state estimation 37

2.2.4 Fusion of Information 37

2.2.5 Mitigation of occlusions and optimised positioning 37

2.2.6 Computer simulations and hardware implementation 38

2.3 Encoder 49

2.3.1 Introduction 49

2.3.2 The two-component encoder theory 51

2.3.3 Encoding Methods 52

2.3.4 Dealing with Noise 54

2.3.5 Complex Motion Decomposition using Switching Continuous Hidden Markov Models 56

2.3.6 Canonical Actions and the Action Alphabet 57

2.3.7 Experiments and Results 59

2.4 ADL Kinematic Performance Evaluation 67

2.4.1 Introduction 67

2.4.2 Methodology 68

2.4.3 Experiment Setup 71

2.4.4 Data Analysis and Results 75

2.5 Summary 83

3 BioKinematic Measurement with Wearable Sensors 85

3.1 INTRODUCTION 86

3.2 Kinematic Model 86

3.3 Introduction to Quaternions 86

3.4 Wahba's Problem 87

3.4.1 Solutions to the Whaba's Problem 88

3.4.2 Davenport's q method 89

3.4.3 Quaternion Estimation Algorithm(QUEST) 91

3.4.4 Fast Optimal Attiude Matrix (FOAM) 92

3.4.5 Estimator of the optimal quarternion (ESOQ or ESOQ1) method 92

3.5 Quaternion Propagation 92

3.6 MARG (Magnetic Angular Rates and Gravity) Sensor arrays based Algorithm 93

3.7 Model based estimation of attitude with I…