The aim of this study was to evaluate eight methods for aligning the orientation of two different local coordinate systems. Alignment is very important when combining two different systems of motion analysis. Two of the methods were developed specifically for biomechanical studies, and because there have been at least three decades of algorithm development in robotics, it was decided to include six methods from this field. To compare these methods, an Xsens sensor and two Optotrak clusters were attached to a Plexiglas plate. The first optical marker cluster was fixed on the sensor and 20 trials were recorded. The error of alignment was calculated for each trial, and the mean, the standard deviation, and the maximum values of this error over all trials were reported. One-way repeated measures analysis of variance revealed that the alignment error differed significantly across the eight methods. Post-hoc tests showed that the alignment error from the methods based on angular velocities was significantly lower than for the other methods. The method using angular velocities performed the best, with an average error of 0.17 ± 0.08 deg. We therefore recommend this method, which is easy to perform and provides accurate alignment.
Skip Nav Destination
Article navigation
August 2016
Technical Briefs
Evaluation of Eight Methods for Aligning Orientation of Two Coordinate Systems
Hakim Mecheri,
Hakim Mecheri
Institut de recherche Robert Sauvé en santé
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: hakim.mecheri@irsst.qc.ca
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: hakim.mecheri@irsst.qc.ca
Search for other works by this author on:
Xavier Robert-Lachaine,
Xavier Robert-Lachaine
Institut de recherche Robert Sauvé en santé
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: xavier.robert-lachaine@irsst.qc.ca
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: xavier.robert-lachaine@irsst.qc.ca
Search for other works by this author on:
Christian Larue,
Christian Larue
Institut de recherche Robert Sauvé en santé
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: christian.larue@irsst.qc.ca
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: christian.larue@irsst.qc.ca
Search for other works by this author on:
André Plamondon
André Plamondon
Institut de recherche Robert Sauvé en santé
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: andre.plamondon@irsst.qc.ca
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: andre.plamondon@irsst.qc.ca
Search for other works by this author on:
Hakim Mecheri
Institut de recherche Robert Sauvé en santé
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: hakim.mecheri@irsst.qc.ca
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: hakim.mecheri@irsst.qc.ca
Xavier Robert-Lachaine
Institut de recherche Robert Sauvé en santé
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: xavier.robert-lachaine@irsst.qc.ca
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: xavier.robert-lachaine@irsst.qc.ca
Christian Larue
Institut de recherche Robert Sauvé en santé
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: christian.larue@irsst.qc.ca
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: christian.larue@irsst.qc.ca
André Plamondon
Institut de recherche Robert Sauvé en santé
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: andre.plamondon@irsst.qc.ca
et en sécurité du travail (IRSST),
505 Boulevard De Maisonneuve Ouest,
Montréal, QC H3A 3C2, Canada
e-mail: andre.plamondon@irsst.qc.ca
Manuscript received December 29, 2015; final manuscript received May 25, 2016; published online June 30, 2016. Assoc. Editor: Pasquale Vena.
J Biomech Eng. Aug 2016, 138(8): 084501 (3 pages)
Published Online: June 30, 2016
Article history
Received:
December 29, 2015
Revised:
May 25, 2016
Citation
Mecheri, H., Robert-Lachaine, X., Larue, C., and Plamondon, A. (June 30, 2016). "Evaluation of Eight Methods for Aligning Orientation of Two Coordinate Systems." ASME. J Biomech Eng. August 2016; 138(8): 084501. https://doi.org/10.1115/1.4033719
Download citation file:
Get Email Alerts
Related Articles
Extended Kalman Filter for Stereo Vision-Based Localization and Mapping Applications
J. Dyn. Sys., Meas., Control (March,2018)
Numerical Validation of Linear Accelerometer Systems for the
Measurement of Head Kinematics
J Biomech Eng (November,2005)
Dynamic Parameter Identification of Subject-Specific Body Segment Parameters Using Robotics Formalism: Case Study Head Complex
J Biomech Eng (May,2016)
Ground Reaction Force Estimation in Prosthetic Legs With Nonlinear Kalman Filtering Methods
J. Dyn. Sys., Meas., Control (November,2017)
Related Chapters
Manipulability-Maximizing SMP Scheme
Robot Manipulator Redundancy Resolution
Introduction
Computer Vision for Structural Dynamics and Health Monitoring
4-Bit Pipeline ADC for Monolithic Active Pixel Sensors
International Conference on Advanced Computer Theory and Engineering (ICACTE 2009)