Date of download: 12/28/2017 Copyright © ASME. All rights reserved. A Motion Tracking and Inertial Measurement Unit–Distance Sensor Fusion Module for Medical Simulation1 J. Med. Devices. 2016;10(2):020916-020916-2. doi:10.1115/1.4033207 Figure Legend: Left: IMU and IR tracking module; middle: a medical simulator with its instrument moving in a box space [1]; and right: grooved pattern for trajectory tracking test

Date of download: 12/28/2017 Copyright © ASME. All rights reserved. A Motion Tracking and Inertial Measurement Unit–Distance Sensor Fusion Module for Medical Simulation1 J. Med. Devices. 2016;10(2):020916-020916-2. doi:10.1115/1.4033207 Figure Legend: Handheld motion estimated using IMU and IR fusion

Date of download: 12/28/2017 Copyright © ASME. All rights reserved. A Motion Tracking and Inertial Measurement Unit–Distance Sensor Fusion Module for Medical Simulation1 J. Med. Devices. 2016;10(2):020916-020916-2. doi:10.1115/1.4033207 Figure Legend: Handheld motion recorded by digital encoders in the Novint Falcon haptic device

Date of download: 12/28/2017 Copyright © ASME. All rights reserved. A Motion Tracking and Inertial Measurement Unit–Distance Sensor Fusion Module for Medical Simulation1 J. Med. Devices. 2016;10(2):020916-020916-2. doi:10.1115/1.4033207 Figure Legend: Estimation of handheld motion along a line

Date of download: 12/28/2017 Copyright © ASME. All rights reserved. A Motion Tracking and Inertial Measurement Unit–Distance Sensor Fusion Module for Medical Simulation1 J. Med. Devices. 2016;10(2):020916-020916-2. doi:10.1115/1.4033207 Figure Legend: Trajectory estimation using the IMU and IR module: with and without Kalman filter