{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,24]],"date-time":"2026-06-24T16:26:23Z","timestamp":1782318383686,"version":"3.54.5"},"reference-count":39,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2021,5,1]],"date-time":"2021-05-01T00:00:00Z","timestamp":1619827200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Bundesministerium f\u00fcr Bildung und Forschung (BMBF)","award":["16SV8053"],"award-info":[{"award-number":["16SV8053"]}]},{"name":"Jade University of Applied Sciences","award":["Jade2Pro"],"award-info":[{"award-number":["Jade2Pro"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The reproduction and simulation of workplaces, and the analysis of body postures during work processes, are parts of ergonomic risk assessments. A commercial virtual reality (VR) system offers the possibility to model complex work scenarios as virtual mock-ups and to evaluate their ergonomic designs by analyzing motion behavior while performing work processes. In this study a VR tracking sensor system (HTC Vive tracker) combined with an inverse kinematic model (Final IK) was compared with a marker-based optical motion capture system (Qualisys). Marker-based optical motion capture systems are considered the gold standard for motion analysis. Therefore, Qualisys was used as the ground truth in this study. The research question to be answered was how accurately the HTC Vive System combined with Final IK can measure joint angles used for ergonomic evaluation. Twenty-six subjects were observed simultaneously with both tracking systems while performing 20 defined movements. Sixteen joint angles were analyzed. Joint angle deviations between \u00b16\u2218 and \u00b142\u2218 were identified. These high deviations must be considered in ergonomic risk assessments when using a VR system. The results show that commercial low-budget tracking systems have the potential to map joint angles. Nevertheless, substantial weaknesses and inaccuracies in some body regions must be taken into account. Recommendations are provided to improve tracking accuracy and avoid systematic errors.<\/jats:p>","DOI":"10.3390\/s21093145","type":"journal-article","created":{"date-parts":[[2021,5,1]],"date-time":"2021-05-01T21:35:39Z","timestamp":1619904939000},"page":"3145","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":39,"title":["An Evaluation of Motion Trackers with Virtual Reality Sensor Technology in Comparison to a Marker-Based Motion Capture System Based on Joint Angles for Ergonomic Risk Assessment"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3699-3414","authenticated-orcid":false,"given":"Jan P.","family":"Vox","sequence":"first","affiliation":[{"name":"Institut of Technical Assistance Systems (ITAS), Jade University of Applied Sciences, Ofener Str. 16\/19, 26121 Oldenburg, Germany"},{"name":"Division Hearing, Speech and Audio Technology HSA, Fraunhofer Institute for Digital Media Technology IDMT, Marie-Curie-Str. 2, 26129 Oldenburg, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0177-5794","authenticated-orcid":false,"given":"Anika","family":"Weber","sequence":"additional","affiliation":[{"name":"Department of Mathematics and Technology, University of Applied Sciences Koblenz, Joseph-Rovan-Allee 2, 53424 Remagen, Germany"},{"name":"Sport and Exercise Science Research Centre, School of Applied Sciences, London South Bank University, 103 Borough Road, London SE1 0AA, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8739-5532","authenticated-orcid":false,"given":"Karen Insa","family":"Wolf","sequence":"additional","affiliation":[{"name":"Division Hearing, Speech and Audio Technology HSA, Fraunhofer Institute for Digital Media Technology IDMT, Marie-Curie-Str. 2, 26129 Oldenburg, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8272-6432","authenticated-orcid":false,"given":"Krzysztof","family":"Izdebski","sequence":"additional","affiliation":[{"name":"Halocline GmbH &amp; Co. KG, Netter Platz 3, 49090 Osnabr\u00fcck, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4278-163X","authenticated-orcid":false,"given":"Thomas","family":"Sch\u00fcler","sequence":"additional","affiliation":[{"name":"Halocline GmbH &amp; Co. KG, Netter Platz 3, 49090 Osnabr\u00fcck, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peter","family":"K\u00f6nig","sequence":"additional","affiliation":[{"name":"Institute of Cognitive Science, University of Osnabr\u00fcck, Wachsbleiche 27, 49090 Osnabr\u00fcck, Germany"},{"name":"Institute of Neurophysiology und Pathophysiology, University Medical Center Hamburg-Eppendorf, 20246 Hamburg, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7791-3225","authenticated-orcid":false,"given":"Frank","family":"Wallhoff","sequence":"additional","affiliation":[{"name":"Institut of Technical Assistance Systems (ITAS), Jade University of Applied Sciences, Ofener Str. 16\/19, 26121 Oldenburg, Germany"},{"name":"Division Hearing, Speech and Audio Technology HSA, Fraunhofer Institute for Digital Media Technology IDMT, Marie-Curie-Str. 2, 26129 Oldenburg, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniel","family":"Friemert","sequence":"additional","affiliation":[{"name":"Department of Mathematics and Technology, University of Applied Sciences Koblenz, Joseph-Rovan-Allee 2, 53424 Remagen, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,5,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1023\/A:1013344508217","article-title":"Work-related musculoskeletal disorders: Design as a prevention strategy. A review","volume":"11","author":"Amell","year":"2001","journal-title":"J. Occup. Rehabil."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1239","DOI":"10.1007\/s00420-016-1156-0","article-title":"Long-term physical workload in middle age and disability pension in men and women: A follow-up study of Swedish cohorts","volume":"89","author":"Kjellberg","year":"2016","journal-title":"Int. Arch. Occup. Environ. Health"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1016\/j.jelekin.2003.09.015","article-title":"Work-related musculoskeletal disorders: The epidemiologic evidence and the debate","volume":"14","author":"Punnett","year":"2004","journal-title":"J. Electromyogr. Kinesiol."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"102882","DOI":"10.1016\/j.apergo.2019.102882","article-title":"Ergonomics assessment methods used by ergonomics professionals","volume":"81","author":"Lowe","year":"2019","journal-title":"Appl. Ergon."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1016\/0003-6870(93)90080-S","article-title":"RULA: A survey method for the investigation of work-related upper limb disorders","volume":"24","author":"McAtamney","year":"1993","journal-title":"Appl. Ergon."},{"key":"ref_6","unstructured":"Halocline (2021, January 20). Ergonomiebewertung\u2014Wie Produktionsplaner: Innen die Arbeitsplatzergonomie von Vornherein mit Planen. Available online: https:\/\/halocline.io\/anwendungsfall\/ergonomiebewertung."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1016\/S0003-6870(99)00039-3","article-title":"REBA: Rapid Entire Body Assessment","volume":"31","author":"McAtamney","year":"2000","journal-title":"Appl. Ergon."},{"key":"ref_8","unstructured":"Ellegast, R., Hermanns, I., and Schiefer, C. (2010). Feldmesssystem CUELA zur Langzeiterfassung und Analyse von Bewegungen an Arbeitspl\u00e4tzen, GRIN Verlag."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"2041669517708205","DOI":"10.1177\/2041669517708205","article-title":"The accuracy and precision of position and orientation tracking in the HTC vive virtual reality system for scientific research","volume":"8","author":"Niehorster","year":"2017","journal-title":"i-Perception"},{"key":"ref_10","unstructured":"Luckett, E. (2018). A Quantitative Evaluation of the Htc Vive for Virtual Reality Research. [Ph.D. Thesis, The University of Mississippi]."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"van der Veen, S.M., Bordeleau, M., Pidcoe, P.E., France, C.R., and Thomas, J.S. (2019). Agreement analysis between vive and vicon systems to monitor lumbar postural changes. Sensors, 19.","DOI":"10.3390\/s19173632"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Ameler, T., Blohme, K., Brandt, L., Br\u00fcngel, R., Hensel, A., Huber, L., Kuper, F., Swoboda, J., Warnecke, M., and Warzecha, M. (2019, January 23\u201327). A comparative evaluation of steamvr tracking and the optitrack system for medical device tracking. Proceedings of the 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Berlin, Germany.","DOI":"10.1109\/EMBC.2019.8856992"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Bauer, P., Lienhart, W., and Jost, S. (2021). Accuracy Investigation of the Pose Determination of a VR System. Sensors, 21.","DOI":"10.3390\/s21051622"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1016\/j.jbiomech.2019.02.004","article-title":"Head mounted displays for capturing head kinematics in postural tasks","volume":"86","author":"Lubetzky","year":"2019","journal-title":"J. Biomech."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Borges, M., Symington, A., Coltin, B., Smith, T., and Ventura, R. (2018, January 1\u20135). HTC vive: Analysis and accuracy improvement. Proceedings of the 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain.","DOI":"10.1109\/IROS.2018.8593707"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"172","DOI":"10.1016\/j.jbiomech.2019.02.015","article-title":"Feasibility of using a fully immersive virtual reality system for kinematic data collection","volume":"87","author":"Spitzley","year":"2019","journal-title":"J. Biomech."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"8576","DOI":"10.1109\/JSEN.2020.2983933","article-title":"Application and Evaluation of Lighthouse Technology for Precision Motion Capture","volume":"20","author":"Sitole","year":"2020","journal-title":"IEEE Sens. J."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"3798","DOI":"10.1109\/ACCESS.2020.3047698","article-title":"Dynamic Pose Tracking Performance Evaluation of HTC Vive Virtual Reality System","volume":"9","author":"Ikbal","year":"2020","journal-title":"IEEE Access"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Kim, W., Huang, C., Yun, D., Saakes, D., and Xiong, S. (2020). Comparison of Joint Angle Measurements from Three Types of Motion Capture Systems for Ergonomic Postural Assessment. International Conference on Applied Human Factors and Ergonomics, Springer.","DOI":"10.1007\/978-3-030-51549-2_1"},{"key":"ref_20","unstructured":"J\u00fcrgens, H., Matzdorff, I., and Windberg, J. (1998). Internationale Anthropometrische Daten als Voraussetzung f\u00fcr die Gestaltung von Arbeitspl\u00e4tzen und Maschinen. Arbeitswissenschaftliche Erkenn., 108, Available online: https:\/\/www.baua.de\/DE\/Angebote\/Publikationen\/AWE\/AWE108.pdf?__blob=publicationFile."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1016\/j.jbiomech.2005.11.007","article-title":"Accuracy and repeatability of an optical motion analysis system for measuring small deformations of biological tissues","volume":"40","author":"Liu","year":"2007","journal-title":"J. Biomech."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"2776","DOI":"10.1016\/j.jbiomech.2008.06.024","article-title":"Systematic accuracy and precision analysis of video motion capturing systems\u2014exemplified on the Vicon-460 system","volume":"41","author":"Windolf","year":"2008","journal-title":"J. Biomech."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"587","DOI":"10.1016\/j.jbiomech.2013.11.031","article-title":"Accuracy and repeatability of joint angles measured using a single camera markerless motion capture system","volume":"47","author":"Schmitz","year":"2014","journal-title":"J. Biomech."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"806","DOI":"10.1080\/17461391.2018.1463397","article-title":"Accuracy of human motion capture systems for sport applications; state-of-the-art review","volume":"18","author":"Reijne","year":"2018","journal-title":"Eur. J. Sport Sci."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"2003","DOI":"10.1682\/JRRD.2003.03.0149","article-title":"The globe system: An unambiguous description of shoulder positions in daily life movements","volume":"40","author":"Doorenbosch","year":"2003","journal-title":"J. Rehabil. Res. Dev."},{"key":"ref_26","unstructured":"Pjontek, R., Scheibe, F., Tabatabai, J., Kadmon, M., Nikendei, C., and Huwendiek, S. (2013). Heidelberger Standarduntersuchung, Projekt Heidelberger Klinische Standards HeiCuMed."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Vox, J.P., and Wallhoff, F. (2018, January 28\u201330). Preprocessing and Normalization of 3D-Skeleton-Data for Human Motion Recognition. Proceedings of the 2018 IEEE Life Sciences Conference (LSC), Montreal, QC, Canada.","DOI":"10.1109\/LSC.2018.8572153"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Vox, J.P., and Wallhoff, F. (August, January 30). A Framework for the Analysis of Biomechanical Loading Using Human Motion Tracking. Proceedings of the 2019 IEEE 20th International Conference on Information Reuse and Integration for Data Science (IRI), Los Angeles, CA, USA.","DOI":"10.1109\/IRI.2019.00020"},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Duan, Y., Zhang, X., and Li, Z. (2020). A New Quaternion-Based Kalman Filter for Human Body Motion Tracking Using the Second Estimator of the Optimal Quaternion Algorithm and the Joint Angle Constraint Method with Inertial and Magnetic Sensors. Sensors, 20.","DOI":"10.3390\/s20216018"},{"key":"ref_30","unstructured":"YostLabs (2020, August 01). AN2013.01\u2014Calculating Angles between Two Yost Labs 3-Space Sensor\u2122 Devices on a Human Body. Available online: https:\/\/yostlabs.com\/wp\/wp-content\/uploads\/pdf\/Yost-Calculating-Angles-Between-Two-3-Space-Sensor-Devices-on-a-Human-Body.pdf."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"261","DOI":"10.1038\/s41592-019-0686-2","article-title":"SciPy 1.0: Fundamental algorithms for scientific computing in Python","volume":"17","author":"Virtanen","year":"2020","journal-title":"Nat. Methods"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/0020-1383(95)90116-7","article-title":"The neutral zero method\u2014A principle of measuring joint function","volume":"26","author":"Ryf","year":"1995","journal-title":"Injury"},{"key":"ref_33","unstructured":"Berndt, D.J., and Clifford, J. (1994). Using Dynamic Time Warping to Find Patterns in Time Series, KDD Workshop."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"307","DOI":"10.1016\/S0140-6736(86)90837-8","article-title":"Statistical methods for assessing agreement between two methods of clinical measurement","volume":"327","author":"Bland","year":"1986","journal-title":"Lancet"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"255","DOI":"10.2307\/2532051","article-title":"A concordance correlation coefficient to evaluate reproducibility","volume":"45","author":"Lawrence","year":"1989","journal-title":"Biometrics"},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Benesty, J., Chen, J., Huang, Y., and Cohen, I. (2009). Pearson correlation coefficient. Noise Reduction in Speech Processing, Springer.","DOI":"10.1007\/978-3-642-00296-0_5"},{"key":"ref_37","unstructured":"McBride, G. (2005). A Proposal for Strength-of-Agreement Criteria for Lin\u2019s Concordance Correlation Coefficient, NIWA. NIWA Client Report HAM2005-062."},{"key":"ref_38","first-page":"2163","article-title":"\u201cThe Dortmunder\u201d-Biomechanical Model for Quantification and Assessment of the Load on the Lumbar Spine","volume":"110","author":"Luttmann","year":"2001","journal-title":"SAE Trans."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"1867","DOI":"10.1093\/ptj\/67.12.1867","article-title":"Clinical measurement of range of motion review of goniometry emphasizing reliability and validity","volume":"67","author":"Gajdosik","year":"1987","journal-title":"Phys. Ther."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/9\/3145\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T05:56:29Z","timestamp":1760162189000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/9\/3145"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,1]]},"references-count":39,"journal-issue":{"issue":"9","published-online":{"date-parts":[[2021,5]]}},"alternative-id":["s21093145"],"URL":"https:\/\/doi.org\/10.3390\/s21093145","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5,1]]}}}