Figure 3 | Scientific Reports

Figure 3

From: Upper limb joint kinematics using wearable magnetic and inertial measurement units: an anatomical calibration procedure based on bony landmark identification

Figure 3

The two-link open kinematic model for the forward kinematics of the upper limb model. The position of the end-effector (i.e., the ulnar styloid) is retrieved with respect to the thorax anatomical frame, which origin is located in the shoulder (hinged, no translational degrees of freedom). Thorax, upper arm and forearm orientation are retrieved from the anatomically calibrated MIMUs placed on the relevant segments, while the length of the forearm and upper arm segments corresponds to the magnitude of the vectors estimated in Eq. 2 and Eq. 4 of the Appendix, respectively.

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