1. 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): doi: /
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

2. 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): doi: /
Figure Legend:
Handheld motion estimated using IMU and IR fusion

3. 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): doi: /
Figure Legend:
Handheld motion recorded by digital encoders in the Novint Falcon haptic device

4. 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): doi: /
Figure Legend:
Estimation of handheld motion along a line

5. 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): doi: /
Figure Legend:
Trajectory estimation using the IMU and IR module: with and without Kalman filter