Wearable Devices

The goal of this research is to develop a wearable devices for human motion sensing and analysis using inertial measurement units (IMUs).  With the advancements in microelectronics technologies, IMUs are getting smaller, cheaper and lighter. They are capable of capturing body movement unobtrusively and allow kinematic measurements to be monitored over extended space and time period. Compared to the traditional optical motion capture system, wearable devices facilitate real-time outdoor data collection to monitor human motion in a more natural way.


  • N. Robson, S. Ghosh and G. S. Soh, “Development of a Sensor-Based Glove Device for Extracting Human Finger Motion Data used in the Design of Minimally Actuated Mechanical Fingers”, Proceedings of the 3rdIFToMM International Symposium on Robotics and Mechatronics, Singapore, 2013.
  • X. Hu and G. S. Soh, “A Study on Estimation of Planar Gait Kinematics using Minimal Inertial Measurement Units and Inverse Kinematics”, Proceedings of the IEEE Engineering in Medicine and Biology Society Conference, Chicago, USA, 2014.
  • X. Hu, C. Yao and G. S. Soh, “Performance Evaluation of Lower Limb Ambulatory Measurement Using Reduced Inertial Measurement Units and 3R Gait Model”, Proceedings of the IEEE International Conference on Rehabilitation Robotics, Singapore, 2015.