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

Table 3

Analysis and comparison of compositive angular accelerations of each segment’s COM (α₁, α₂, and α₃) derived from the IMUs and RCS in STS tasks performed by healthy subjects.

Healthy subjects	Ankle joint angular acceleration α1 (rad/s^2)			Knee joint angular acceleration α2 (rad/s^2)			Hip joint angular acceleration α3 (rad/s^2)
	RMSE	R	emax	RMSE	R	emax	RMSE	R	emax
1	3.056	0.885	0.725	2.998	0.912	0.924	1.646	0.824	0.724
2	3.243	0.843	0.953	3.054	0.895	0.742	1.850	0.815	0.753
3	3.562	0.821	0.966	3.155	0.852	0.977	2.096	0.795	0.868
4	3.982	0.796	1.028	3.432	0.824	1.124	2.554	0.801	0.902
5	4.244	0.730	1.150	3.752	0.810	1.109	2.730	0.765	0.890
Average	3.617	0.815	0.964	3.278	0.859	0.975	2.175	0.800	0.827