Novel IMU-Based Adaptive Estimator of the Center of Rotation of Joints for Movement Analysis

The location of the center of rotation (COR) of joints is a key parameter in multiple applications of human motion analysis. The aim of this work was to propose a novel real-time estimator of the center of fixed joints using an inertial measurement unit (IMU). Since the distance to this center commonly varies during the joint motion due to soft tissue artifacts (STAs), our approach is aimed at adapting to these small variations when the COR is fixed. Our proposal, called ArVE
${_{d}}$
, to the best of our knowledge, is the first real-time estimator of the IMU-joint center vector based on one IMU. Previous works are off-line and require a complete measurement batch to be solved, and most of them are not tested in the real scenario. The algorithm is based on an extended Kalman filter (EKF) that provides an adaptive vector to STA motion variations at each time instant, without requiring a preprocessing stage to reduce the level of noise. ArVE
${_{d}}$
has been tested through different experiments, including synthetic and real data. The synthetic data are obtained from a simulated spherical pendulum whose COR is fixed, considering both a constant and a variable IMU-joint vector, which simulates translational IMU motions due to STA. The results prove that ArVE
${_{d}}$
is adapted to obtain a vector per sample with an accuracy of 6.8 ± 3.9 mm on the synthetic data, which means an error of lower than 3.5% of the simulated IMU-joint vector. Its accuracy is also tested on the real scenario estimating the COR of the hip of five volunteers using as reference the results from an optical system. In this case, ArVE
${_{d}}$
gets an average error of 9.5% of the real vector value. In all the experiments, ArVE
${_{d}}$
outperforms the published results of the reference algorithms.