A Novel Biomechanical Model-Aided IMU/UWB Fusion for Magnetometer-Free Lower Body Motion Capture
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Bibliographic record
Abstract
The available human body inertial motion capture (MoCap) systems are aided by magnetometers to remove the drift error in yaw angle estimation, which in turn limits their application in the presence of long-lasting magnetic disturbances in indoor environments. This paper introduces a magnetometer-free algorithm for lower-body MoCap including 3-D localization and posture tracking by fusing inertial sensors with an ultrawideband (UWB) localization system and a biomechanical model of the human lower body. Using our novel Kalman filter-based fusion algorithm, the UWB localization data aided by the biomechanical model can eliminate the drift in inertial yaw angle estimation of the lower-body segments. This magnetometer-free yaw angle estimation makes the algorithm insensitive to the magnetic disturbances. The algorithm is benchmarked against the optical MoCap system for various indoor activities including walking, jogging, jumping, and stairs ascending/descending. The results show that the proposed algorithm outperforms the available magnetometer-aided algorithms in yaw angle tracking under magnetic disturbances. In a uniform magnetic field, the algorithm shows similar accuracies in localization and joint angle tracking when compared with the magnetometer-aided methods. The localization accuracy of the proposed method is better than 4.5 cm in a 3-D space and its accuracy for knee angle tracking is about 3.5° and 4.5° in low and high dynamic motions, respectively.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it