ABSTRACT
In many ambulatory biomechanical analyses, motion tracking of human body segments by accurate determination of each segment’s orientation is of key importance [1,2]. The diverse application of body segment motion tracking ranges from rehabilitation and physical medicine [3,5] to sports science [6,8]. Recently, with the advances in micro-electro-mechanical systems (MEMS) technology, miniature inertial and magnetic measurement units (IMMU) have emerged for wearable motion capture technology. These wearable miniature IMMU can be used to estimate accurate orientation
20.1 Introduction ......................................................................................................................... 351 20.1.1 Three-Dimensional Orientation Representation ................................................... 352
20.1.1.1 Definition of the Coordinate Frames .................................................... 352 20.1.1.2 Euler Angles Representation ................................................................ 352 20.1.1.3 Rotation Matrix Representation ........................................................... 353
20.2 Challenges in Orientation Estimation with Inertial/Magnetic Sensors .............................. 353 20.2.1 Role of Gyroscope.................................................................................................353 20.2.2 Role of Accelerometer...........................................................................................353 20.2.3 Role of Magnetometer...........................................................................................354
