A Flexible Sensor and MIMU-Based Multisensor Wearable System for Human Motion Analysis

Yu Gu, Yi Han, Xiangzhi Liu, Ning Zhang, Xiufeng Zhang, Min Pan, Shuoyu Wang, Wei Dong, Tao Liu

Research output: Contribution to journalArticlepeer-review

5 Citations (SciVal)
33 Downloads (Pure)


Motivation: Magnetic–inertial measurement units (MIMUs) and flexible sensors are widely used in the wearable measurement system for human motion monitoring, clinical gait detection, and robotics motion control. However, MIMUs demonstrate measurement error due to magnetic disturbance in the indoor environment, and flexible sensors usually have low performance on linearity and accuracy. Objective: This article is intended to eliminate the low-accuracy problem caused by magnetic disturbances and improve the measurement accuracy of MIMU–flexible-sensor-based wearable systems. Approach: 1) a three-stage real-time adaptive anti-disturbance data fusion (RT-ADF) algorithm is proposed, which contains an anti-disturbance filter based on a double Mahony filter along with a state observer, a signal holder for sensors’ data transmit synchronously, and a data fusion based on an adaptive Kalman filter; 2) the proposed algorithm is used and validated its performance on a designed MIMU–flexible sensor wearable system; and 3) ten groups of knee motions (flexion/extension), ten groups of hip motions (adduction/abduction), and ten groups of elbow motions (flexion/extension) have been done by seven subjects in the experiments. Main Results: The designed multisensor wearable system based on the presented data fusion algorithm demonstrates a high-accuracy performance under the magnetic disturbance environment, and the maximum root mean square error (RMSE) of the measured continuous 3-D motion angle of the knee, hip, and elbow cross all the experiments was 1.23°, 1.15°, and 3.67° for each axis.
Original languageEnglish
Pages (from-to)4107 - 4117
Number of pages11
JournalIEEE Sensors Journal
Issue number4
Early online date9 Jan 2023
Publication statusPublished - 15 Feb 2023

Bibliographical note

Funding Information:
This work was supported in part by the NSFC under Grant U1913601, Grant 52175033, and Grant U21A20120; in part by the Zhejiang Provincial Natural Science Foundation of China under Grant LZ20E050002; and in part by the Key Research and Development Program of Zhejiang under Award 2022C03103 and Award 2021C03051


  • Adaptive data fusion
  • magnetic disturbance
  • multisensor systems
  • wearable sensors

ASJC Scopus subject areas

  • Instrumentation
  • Electrical and Electronic Engineering


Dive into the research topics of 'A Flexible Sensor and MIMU-Based Multisensor Wearable System for Human Motion Analysis'. Together they form a unique fingerprint.

Cite this