Figure 2From: Assessment of hand kinematics using inertial and magnetic sensorsFilter topology for each finger. After initialization of both the state x and error state δ x, a measurement update of error states according the measured acceleration and magnetometer signals (y a , y m ) and biomechanical dimensionaly information (DIM) can be performed. Thereafter states are updated, which are the relative orientations, finger tip positions and gyro bias estimates. Subsequently gyroscope information yΩ is used as an input to perform a update of the process (time update). Finally signals are propagated (k=k+1), and the described procedure is repeated.Back to article page