IMU-based angle measurement - algorithm validation by Vicon motion capture

We developed a novel algorithm to measure the joint angle using two IMU sensors placed on adjacent segments respectively. Functional calibration is required to determine the axis of sensor related to the segment movement, therefore accurate or constant sensor placement is not necessary for our model. A fast complementary filter is utilised to compensate the drift of gyroscope with the accelerometer-based angle.

The model script was written in MATLAB. Two versions are available, one for offline angle calculation and the other is a real-time system version.

The algorithm has been validated by the Vicon motion system. The model script and validation experimental data are available in this dataset.

Access to the dataset will be made public on acceptance of publication. Data made available 14/11/19