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Vol. 116, Issue 5, May 2010, pp. 61-75




Kalman Smoothing and Wavelet Analysis for Inertial Data of Human Movement Disorder Motion


Wesley TESKEY, Mohamed ELHABIBY and Naser EL-SHEIMY

Department of Geomatics Engineering, University of Calgary, 2500 University Drive NW,
Calgary, Alberta, T2N 1N4, Canada,

Tel.: 403-220-4370, fax: 403-284-1980

E-mail: wjeteske@ucalgary.ca



Received: 27 April 2010   /Accepted: 24 May 2010   /Published: 31 May 2010


Abstract: Human movement disorders examined include essential tremor and Parkinsonís disease; both disorders feature possible uncontrollable tremor. In most literature, limited numbers of inertial sensors (accelerometers and gyroscopes) are used when examining movement disorder subjects for purposes of diagnosis and attenuation (active mitigation) and consequently a full rendering of motion (and tremor) for subjects is not possible. The examination carried out for this work utilizes six inertial sensors capable of rendering all six degrees-of-freedom of motion with the assistance of Kalman smoothing. Because of this full rendering of motion, movement patterns largely unexamined by other researchers are visible. Key findings are that the measured frequency content of motion (displayed using wavelets) is largely unaffected by the axis of measurement or by whether lateral or rotational motion is being measured, as well, accelerometers are largely unaffected by rotational tremor even though some measured frequency content would be expected due to gravityís influence.


Keywords: Wavelet, Kalman smoothing, Accelerometer, Gyroscope, Movement disorders


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