Kalman filtering of accelerometer and electromyography data in pathological tremor sensing system
Identifieur interne : 002244 ( Main/Exploration ); précédent : 002243; suivant : 002245Kalman filtering of accelerometer and electromyography data in pathological tremor sensing system
Auteurs : Ferdinand Widjaja [Singapour] ; C. Y. Shee [Singapour] ; W. T. Latt [Singapour] ; W. L. Au [Singapour] ; Philippe Poignet [France] ; Wei Tech Ang [Singapour]Source :
English descriptors
- mix :
Abstract
Currently there is a lack of objective clinical diagnosis and classification of tremor is difficult when it is subtle. Thus in previous work, a sensing system has been developed to quantify pathological tremor in human upper limb. In this paper, a Kalman filter algorithm to fuse information from accelerometers and surface electromyography is proposed. As the ground truth, an optical motion tracking system will be utilized. Then two sensor fusion algorithms based on Kalman filter are formulated to estimate the joint angle of the limb from the reading of accelerometers and surface EMG. Initial results using tremor data from two Parkinson's disease patients show promising future in this sensor fusion. The sensing system and the algorithms proposed are useful for actively compensating the tremor and helping the clinicians in tremor diagnostics.
Url:
DOI: 10.1109/ROBOT.2008.4543706
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: 000605
- to stream Hal, to step Curation: 000605
- to stream Hal, to step Checkpoint: 000901
- to stream Main, to step Merge: 002431
- to stream Main, to step Curation: 002244
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Kalman filtering of accelerometer and electromyography data in pathological tremor sensing system</title><author><name sortKey="Widjaja, Ferdinand" sort="Widjaja, Ferdinand" uniqKey="Widjaja F" first="Ferdinand" last="Widjaja">Ferdinand Widjaja</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50935" status="VALID"> <orgName>Biorobotics lab</orgName> <orgName type="acronym">Nayang Technological University</orgName> <desc> <address> <country key="SG"></country> </address> </desc> <listRelation> <relation active="#struct-301090" type="direct"></relation> </listRelation><tutelles><tutelle active="#struct-301090" type="direct"><org type="institution" xml:id="struct-301090" status="VALID"> <orgName>Nayang Technological University</orgName> <desc> <address> <country key="FR"></country> </address> </desc></org></tutelle></tutelles></hal:affiliation><country>Singapour</country></affiliation></author><author><name sortKey="Shee, C Y" sort="Shee, C Y" uniqKey="Shee C" first="C. Y." last="Shee">C. Y. Shee</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50935" status="VALID"> <orgName>Biorobotics lab</orgName> <orgName type="acronym">Nayang Technological University</orgName> <desc> <address> <country key="SG"></country> </address> </desc> <listRelation> <relation active="#struct-301090" type="direct"></relation> </listRelation><tutelles><tutelle active="#struct-301090" type="direct"><org type="institution" xml:id="struct-301090" status="VALID"> <orgName>Nayang Technological University</orgName> <desc> <address> <country key="FR"></country> </address> </desc></org></tutelle></tutelles></hal:affiliation><country>Singapour</country></affiliation></author><author><name sortKey="Latt, W T" sort="Latt, W T" uniqKey="Latt W" first="W. T." last="Latt">W. T. Latt</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50935" status="VALID"> <orgName>Biorobotics lab</orgName> <orgName type="acronym">Nayang Technological University</orgName> <desc> <address> <country key="SG"></country> </address> </desc> <listRelation> <relation active="#struct-301090" type="direct"></relation> </listRelation><tutelles><tutelle active="#struct-301090" type="direct"><org type="institution" xml:id="struct-301090" status="VALID"> <orgName>Nayang Technological University</orgName> <desc> <address> <country key="FR"></country> </address> </desc></org></tutelle></tutelles></hal:affiliation><country>Singapour</country></affiliation></author><author><name sortKey="Au, W L" sort="Au, W L" uniqKey="Au W" first="W. L." last="Au">W. L. Au</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50935" status="VALID"> <orgName>Biorobotics lab</orgName> <orgName type="acronym">Nayang Technological University</orgName> <desc> <address> <country key="SG"></country> </address> </desc> <listRelation> <relation active="#struct-301090" type="direct"></relation> </listRelation><tutelles><tutelle active="#struct-301090" type="direct"><org type="institution" xml:id="struct-301090" status="VALID"> <orgName>Nayang Technological University</orgName> <desc> <address> <country key="FR"></country> </address> </desc></org></tutelle></tutelles></hal:affiliation><country>Singapour</country></affiliation></author><author><name sortKey="Poignet, Philippe" sort="Poignet, Philippe" uniqKey="Poignet P" first="Philippe" last="Poignet">Philippe Poignet</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-391198" status="VALID"> <idno type="RNSR">200318382X</idno> <orgName>Artificial movement and gait restoration</orgName> <orgName type="acronym">DEMAR</orgName> <desc> <address> <country key="FR"></country> </address> <ref type="url">http://www.lirmm.fr/demar/</ref> </desc> <listRelation> <relation active="#struct-181" type="direct"></relation> <relation name="UMR5506" active="#struct-441569" type="indirect"></relation> <relation name="UMR5506" active="#struct-410122" type="indirect"></relation> <relation active="#struct-34586" type="direct"></relation> <relation active="#struct-300009" type="indirect"></relation> </listRelation><tutelles><tutelle active="#struct-181" type="direct"><org type="laboratory" xml:id="struct-181" status="VALID"> <idno type="RNSR">199111950H</idno> <idno type="ISNI">0000000405990488</idno> <orgName>Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</orgName> <orgName type="acronym">LIRMM</orgName> <date type="start">1995</date> <desc> <address> <addrLine>CC 477, 161 rue Ada, 34095 Montpellier Cedex 5</addrLine> <country key="FR"></country> </address> <ref type="url">http://www.lirmm.fr</ref> </desc> <listRelation> <relation name="UMR5506" active="#struct-441569" type="direct"></relation> <relation name="UMR5506" active="#struct-410122" type="direct"></relation> </listRelation></org></tutelle><tutelle name="UMR5506" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="IdRef">02636817X</idno><idno type="ISNI">0000000122597504</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle name="UMR5506" active="#struct-410122" type="indirect"><org type="institution" xml:id="struct-410122" status="VALID"> <idno type="ISNI">0000000120970141</idno> <orgName>Université de Montpellier</orgName> <orgName type="acronym">UM</orgName> <desc> <address> <addrLine>163 rue Auguste Broussonnet - 34090 Montpellier</addrLine> <country key="FR"></country> </address> <ref type="url">http://www.umontpellier.fr/</ref> </desc></org></tutelle><tutelle active="#struct-34586" type="direct"><org type="laboratory" xml:id="struct-34586" status="VALID"><idno type="RNSR">198318250R</idno><orgName>Inria Sophia Antipolis - Méditerranée </orgName><orgName type="acronym">CRISAM</orgName><desc><address><addrLine>2004 route des Lucioles BP 93 06902 Sophia Antipolis</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre/sophia/</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author><author><name sortKey="Ang, Wei Tech" sort="Ang, Wei Tech" uniqKey="Ang W" first="Wei Tech" last="Ang">Wei Tech Ang</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50935" status="VALID"> <orgName>Biorobotics lab</orgName> <orgName type="acronym">Nayang Technological University</orgName> <desc> <address> <country key="SG"></country> </address> </desc> <listRelation> <relation active="#struct-301090" type="direct"></relation> </listRelation><tutelles><tutelle active="#struct-301090" type="direct"><org type="institution" xml:id="struct-301090" status="VALID"> <orgName>Nayang Technological University</orgName> <desc> <address> <country key="FR"></country> </address> </desc></org></tutelle></tutelles></hal:affiliation><country>Singapour</country></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:lirmm-00196066</idno><idno type="halId">lirmm-00196066</idno><idno type="halUri">https://hal-lirmm.ccsd.cnrs.fr/lirmm-00196066</idno><idno type="url">https://hal-lirmm.ccsd.cnrs.fr/lirmm-00196066</idno><idno type="doi">10.1109/ROBOT.2008.4543706</idno><date when="2008-05-19">2008-05-19</date><idno type="wicri:Area/Hal/Corpus">000605</idno><idno type="wicri:Area/Hal/Curation">000605</idno><idno type="wicri:Area/Hal/Checkpoint">000901</idno><idno type="wicri:explorRef" wicri:stream="Hal" wicri:step="Checkpoint">000901</idno><idno type="wicri:Area/Main/Merge">002431</idno><idno type="wicri:Area/Main/Curation">002244</idno><idno type="wicri:Area/Main/Exploration">002244</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Kalman filtering of accelerometer and electromyography data in pathological tremor sensing system</title><author><name sortKey="Widjaja, Ferdinand" sort="Widjaja, Ferdinand" uniqKey="Widjaja F" first="Ferdinand" last="Widjaja">Ferdinand Widjaja</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50935" status="VALID"> <orgName>Biorobotics lab</orgName> <orgName type="acronym">Nayang Technological University</orgName> <desc> <address> <country key="SG"></country> </address> </desc> <listRelation> <relation active="#struct-301090" type="direct"></relation> </listRelation><tutelles><tutelle active="#struct-301090" type="direct"><org type="institution" xml:id="struct-301090" status="VALID"> <orgName>Nayang Technological University</orgName> <desc> <address> <country key="FR"></country> </address> </desc></org></tutelle></tutelles></hal:affiliation><country>Singapour</country></affiliation></author><author><name sortKey="Shee, C Y" sort="Shee, C Y" uniqKey="Shee C" first="C. Y." last="Shee">C. Y. Shee</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50935" status="VALID"> <orgName>Biorobotics lab</orgName> <orgName type="acronym">Nayang Technological University</orgName> <desc> <address> <country key="SG"></country> </address> </desc> <listRelation> <relation active="#struct-301090" type="direct"></relation> </listRelation><tutelles><tutelle active="#struct-301090" type="direct"><org type="institution" xml:id="struct-301090" status="VALID"> <orgName>Nayang Technological University</orgName> <desc> <address> <country key="FR"></country> </address> </desc></org></tutelle></tutelles></hal:affiliation><country>Singapour</country></affiliation></author><author><name sortKey="Latt, W T" sort="Latt, W T" uniqKey="Latt W" first="W. T." last="Latt">W. T. Latt</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50935" status="VALID"> <orgName>Biorobotics lab</orgName> <orgName type="acronym">Nayang Technological University</orgName> <desc> <address> <country key="SG"></country> </address> </desc> <listRelation> <relation active="#struct-301090" type="direct"></relation> </listRelation><tutelles><tutelle active="#struct-301090" type="direct"><org type="institution" xml:id="struct-301090" status="VALID"> <orgName>Nayang Technological University</orgName> <desc> <address> <country key="FR"></country> </address> </desc></org></tutelle></tutelles></hal:affiliation><country>Singapour</country></affiliation></author><author><name sortKey="Au, W L" sort="Au, W L" uniqKey="Au W" first="W. L." last="Au">W. L. Au</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50935" status="VALID"> <orgName>Biorobotics lab</orgName> <orgName type="acronym">Nayang Technological University</orgName> <desc> <address> <country key="SG"></country> </address> </desc> <listRelation> <relation active="#struct-301090" type="direct"></relation> </listRelation><tutelles><tutelle active="#struct-301090" type="direct"><org type="institution" xml:id="struct-301090" status="VALID"> <orgName>Nayang Technological University</orgName> <desc> <address> <country key="FR"></country> </address> </desc></org></tutelle></tutelles></hal:affiliation><country>Singapour</country></affiliation></author><author><name sortKey="Poignet, Philippe" sort="Poignet, Philippe" uniqKey="Poignet P" first="Philippe" last="Poignet">Philippe Poignet</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-391198" status="VALID"> <idno type="RNSR">200318382X</idno> <orgName>Artificial movement and gait restoration</orgName> <orgName type="acronym">DEMAR</orgName> <desc> <address> <country key="FR"></country> </address> <ref type="url">http://www.lirmm.fr/demar/</ref> </desc> <listRelation> <relation active="#struct-181" type="direct"></relation> <relation name="UMR5506" active="#struct-441569" type="indirect"></relation> <relation name="UMR5506" active="#struct-410122" type="indirect"></relation> <relation active="#struct-34586" type="direct"></relation> <relation active="#struct-300009" type="indirect"></relation> </listRelation><tutelles><tutelle active="#struct-181" type="direct"><org type="laboratory" xml:id="struct-181" status="VALID"> <idno type="RNSR">199111950H</idno> <idno type="ISNI">0000000405990488</idno> <orgName>Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</orgName> <orgName type="acronym">LIRMM</orgName> <date type="start">1995</date> <desc> <address> <addrLine>CC 477, 161 rue Ada, 34095 Montpellier Cedex 5</addrLine> <country key="FR"></country> </address> <ref type="url">http://www.lirmm.fr</ref> </desc> <listRelation> <relation name="UMR5506" active="#struct-441569" type="direct"></relation> <relation name="UMR5506" active="#struct-410122" type="direct"></relation> </listRelation></org></tutelle><tutelle name="UMR5506" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="IdRef">02636817X</idno><idno type="ISNI">0000000122597504</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle name="UMR5506" active="#struct-410122" type="indirect"><org type="institution" xml:id="struct-410122" status="VALID"> <idno type="ISNI">0000000120970141</idno> <orgName>Université de Montpellier</orgName> <orgName type="acronym">UM</orgName> <desc> <address> <addrLine>163 rue Auguste Broussonnet - 34090 Montpellier</addrLine> <country key="FR"></country> </address> <ref type="url">http://www.umontpellier.fr/</ref> </desc></org></tutelle><tutelle active="#struct-34586" type="direct"><org type="laboratory" xml:id="struct-34586" status="VALID"><idno type="RNSR">198318250R</idno><orgName>Inria Sophia Antipolis - Méditerranée </orgName><orgName type="acronym">CRISAM</orgName><desc><address><addrLine>2004 route des Lucioles BP 93 06902 Sophia Antipolis</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre/sophia/</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author><author><name sortKey="Ang, Wei Tech" sort="Ang, Wei Tech" uniqKey="Ang W" first="Wei Tech" last="Ang">Wei Tech Ang</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-50935" status="VALID"> <orgName>Biorobotics lab</orgName> <orgName type="acronym">Nayang Technological University</orgName> <desc> <address> <country key="SG"></country> </address> </desc> <listRelation> <relation active="#struct-301090" type="direct"></relation> </listRelation><tutelles><tutelle active="#struct-301090" type="direct"><org type="institution" xml:id="struct-301090" status="VALID"> <orgName>Nayang Technological University</orgName> <desc> <address> <country key="FR"></country> </address> </desc></org></tutelle></tutelles></hal:affiliation><country>Singapour</country></affiliation></author></analytic><idno type="DOI">10.1109/ROBOT.2008.4543706</idno></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Tremor</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Currently there is a lack of objective clinical diagnosis and classification of tremor is difficult when it is subtle. Thus in previous work, a sensing system has been developed to quantify pathological tremor in human upper limb. In this paper, a Kalman filter algorithm to fuse information from accelerometers and surface electromyography is proposed. As the ground truth, an optical motion tracking system will be utilized. Then two sensor fusion algorithms based on Kalman filter are formulated to estimate the joint angle of the limb from the reading of accelerometers and surface EMG. Initial results using tremor data from two Parkinson's disease patients show promising future in this sensor fusion. The sensing system and the algorithms proposed are useful for actively compensating the tremor and helping the clinicians in tremor diagnostics.</div></front></TEI><affiliations><list><country><li>France</li><li>Singapour</li></country></list><tree><country name="Singapour"><noRegion><name sortKey="Widjaja, Ferdinand" sort="Widjaja, Ferdinand" uniqKey="Widjaja F" first="Ferdinand" last="Widjaja">Ferdinand Widjaja</name></noRegion><name sortKey="Ang, Wei Tech" sort="Ang, Wei Tech" uniqKey="Ang W" first="Wei Tech" last="Ang">Wei Tech Ang</name><name sortKey="Au, W L" sort="Au, W L" uniqKey="Au W" first="W. L." last="Au">W. L. Au</name><name sortKey="Latt, W T" sort="Latt, W T" uniqKey="Latt W" first="W. T." last="Latt">W. T. Latt</name><name sortKey="Shee, C Y" sort="Shee, C Y" uniqKey="Shee C" first="C. Y." last="Shee">C. Y. Shee</name></country><country name="France"><noRegion><name sortKey="Poignet, Philippe" sort="Poignet, Philippe" uniqKey="Poignet P" first="Philippe" last="Poignet">Philippe Poignet</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Wicri/Sante/explor/ParkinsonFranceV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 002244 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 002244 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Wicri/Sante
|area= ParkinsonFranceV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= Hal:lirmm-00196066
|texte= Kalman filtering of accelerometer and electromyography data in pathological tremor sensing system
}}
| This area was generated with Dilib version V0.6.29. |  |