Experimental comparison of orientation estimation algorithms in motion tracking for rehabilitation

This paper presents the experimental comparison of data fusion algorithms for human motion tracking in rehabilitation, using Inertial Measurement Units. Three algorithms for orientation estimation, taken from the scientific literature in the field, have been selected and their capability of accurately tracking the angle of a selected joint has been evaluated. In particular, two phases of experimental analysis have been carried out. The former, in laboratory, was directed to verify the capability of the algorithms of tracking a fixed angle range. In the latter, carried out in a rehabilitation center, the results obtained by the considered algorithms have been compared with those provided by a vision-based motion tracking system.