Three dimensional visualization of the statically equivalent serial chain from kinect recording

We develop and present a portable tool intended for real time estimation of the center of mass (CoM) in human subjects. Using the statically equivalent serial chain (SESC) method we can account for subject specificity after identification of the model´s parameters. CoM position estimates are then available from measurements of the subject´s limbs orientations. For portability, we make use of widely accessible sensors such as the Kinect and Wii balance board for identification. Use of the Kinect as a measurement device allows us to establish the SESC outside of the laboratory, without many special considerations on the environment. Only Kinect is used for CoM tracking after identification was performed. We present here an overview of the SESC concept and the identification procedure. The aspects involved in the visualization tool are discussed and results are shown in order to verify the performance.