센서 융합 칼만 필터를 이용한 휴대용 오십견 치료 기기 개발

Abstract

This paper is applied to Sensor fusing Kalman Filter algorithm of removing Gyro Sensor Drift used the purpose of treatment devices for frozen shoulder. The main treatment is physical therapy for frozen shoulder. But the steady physical therapy at the hospital is difficult for patients. So their self-performing physical therapy is so effective. However, taking the correct position at the time of the exercise is important, measuring angle difference between the arms and shoulders to some extent, and monitoring the difference are needed for self-healing. Therefore, there is attempt to apply the gyro sensor for measuring the angle difference between the shoulders and arms. The gyro sensor outputs an angular velocity. However, the angular velocity output from the gyro sensor includes White Noise and an one-side bias. If the angular velocity with the error and bias is integrated by the sampling time, accumulated error of the type that diffuses one side occurred. This paper evaluates that the a sensor unit applying the Sensor fusion Kalman filter using an acceleration sensor and a gyro sensor is suitable for the treatment device.