Noninvasive Estimation of Joint Moments with Inertial Sensor System for Analysis of STS Rehabilitation Training

Table 2

Analysis and comparison of compositive joint angles (θ₁, θ₂, and θ₃) derived from the IMUs and RCS in STS tasks performed by healthy subjects.

Healthy subjects	Ankle joint angle θ1 (rad)			Knee joint angle θ2 (rad)			Hip joint angle θ3 (rad)
	RMSE	R	emax	RMSE	R	emax	RMSE	R	emax
1	0.079	0.951	0.094	0.068	0.919	0.166	0.031	0.933	0.120
2	0.092	0.939	0.101	0.069	0.902	0.198	0.039	0.929	0.124
3	0.112	0.926	0.114	0.085	0.869	0.201	0.046	0.928	0.157
4	0.117	0.919	0.179	0.094	0.853	0.229	0.054	0.915	0.195
5	0.123	0.917	0.198	0.112	0.808	0.286	0.060	0.901	0.287
Average	0.105	0.930	0.137	0.087	0.870	0.216	0.046	0.921	0.177