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Scientific Programming
Volume 2017, Article ID 7594763, 11 pages
Research Article

Development of a Wearable Device for Motion Capturing Based on Magnetic and Inertial Measurement Units

State Key Lab of Intelligent Technology and Systems, Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, Haidian District, Beijing 100083, China

Correspondence should be addressed to Bin Fang; moc.361@0211nibgnaf

Received 22 July 2016; Revised 26 September 2016; Accepted 17 October 2016; Published 18 January 2017

Academic Editor: Michele Risi

Copyright © 2017 Bin Fang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a novel wearable device for gesture capturing based on inertial and magnetic measurement units that are made up of micromachined gyroscopes, accelerometers, and magnetometers. The low-cost inertial and magnetic measurement unit is compact and small enough to wear and there are altogether thirty-six units integrated in the device. The device is composed of two symmetric parts, and either the right part or the left one contains eighteen units covering all the segments of the arm, palm, and fingers. The offline calibration and online calibration are proposed to improve the accuracy of sensors. Multiple quaternion-based extended Kalman filters are designed to estimate the absolute orientations, and kinematic models of the arm-hand are considered to determine the relative orientations. Furthermore, position algorithm is deduced to compute the positions of corresponding joint. Finally, several experiments are implemented to verify the effectiveness of the proposed wearable device.