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

Table 5

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 patients.

Patients	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	0.124	0.524	0.195	0.122	0.563	0.143	0.189	0.621	0.132
2	0.182	0.542	0.220	0.147	0.522	0.213	0.201	0.608	0.237
3	0.167	0.601	0.172	0.261	0.512	0.249	0.227	0.534	0.258
4	0.201	0.491	0.253	0.166	0.509	0.197	0.186	0.522	0.355
5	0.230	0.483	0.279	0.245	0.504	0.288	0.223	0.499	0.306
Average	0.181	0.528	0.224	0.188	0.522	0.218	0.205	0.557	0.258