Estimate Hand–Finger Position With One Magnetometer and Known Relative Orientation

Inertial-sensor-based hand motion tracking has become a well-accepted method in many clinical applications, including rehabilitation of the upper extremity. However, major drawbacks are that sensor on each segment and kinematic chain rule is required. Thus, errors accumulate through rule. Also, length needs to be measured for user. We propose novel which permanent magnet dorsal side combined with an inertial magnetic measurement unit (IMMU) fingertip used estimate position thumb index relative hand. The biggest advantages proposed no prior information needed. Besides, required number sensors low. A Levenberg–Marquardt (L-M) approach presented positions known orientations. performance demonstrated multiple experiments various movement tasks were performed. most complex task participants performed reaching grasping movements based action research arm test (ARAT) resulted median distance error between finger 9.6%.