TELKOMNIKA Telecommunication Computing Electronics and Control
Wearable sensor network for lower limb angle estimation in robotics applications

TELKOMNIKA Telecommunication Computing Electronics and Control
Wearable sensor network for lower limb angle estimation in robotics applications

Angle estimation
IEEE 802.11 standard
Kalman filter
Wearable systems
Wireless sensor network

In human-robot interaction, sensors are relevant in guaranteeing stability and
high performance in real-time applications. Nonetheless, accuracy and
portable sensors for robots usually have high costs and little flexibility to
process signals with free software. Therefore, we propose a wearable sensor
network to measure lower limb angular position in human-robot interaction
systems. The methodology employed to achieve the aim consisted in
implementing a wireless network using low-cost devices, verifying design
requirements, and making a validation via a proof of concept.
The requirements to design the network include low loss of information,
real-time communication, and sensor fusion to estimate the angular position
using a gyroscope and accelerometer. Hence, the sensor network developed
has a client-server architecture based on ESP8266 microcontrollers.
In addition, this network uses the standard 802.11 b/g/n to transmit angular
velocity and acceleration measures. Furthermore, we implement the user
datagram protocol (UDP) protocol to operate in real-time with a sample time
of 10 ms. Finally, we implement a proof of concept to show the system’s
effectiveness. Thus, we use the Kalman filter to estimate the angular position
of the foot, shin, thigh, and hip. Results indicate that the implemented sensor
network is suitable for real-time robotic applications.

Andres L. Jutinico, Gustavo A. R. Rodriguez, Julian Rolando Camargo Lopez

http://telkomnika.uad.ac.id

Oct 26, 2022

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