Figure 1
From: Assessment of hand kinematics using inertial and magnetic sensors
Sagital view of the left index finger. Given are the coordinate frame definitions for hand (Ψ H ), proximal (Ψ P ), medial (Ψ M ), distal (Ψ D ) segment, and corresponding joints: Meta Carpal Phalangeal (MCP), Proximal Inter Phalangeal (PIP) and Distal Inter Phalangeal (DIP). To all segments a triaxial gyroscope-accelerometer combination was attached. In addition the hand and distal segment include a magnetometer as well. The coordinate frame of various sensors is indicated with an S placed in front of the letter that indicates the segment. The position of the finger tip p E expressed in the hand frame Ψ H can be calculated using the joint positions p i j and relative orientations Rij, were i,j are two connected segments. Figure modified from Wu et al. [11].