Table 2 Mean errors for various IMU orientation estimation algorithms and for the Kinect v2 when compared to the MBS output
| Â | Trunk Sag. | Trunk Front. | Hip Sag. | Hip Front. | Knee Flex. | Mean | ||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
GA | GAC | GA | GAC | GA | GAC | GA | GAC | GA | GAC | GA | GAC | |
ACC | 3.3 (1.5) | 5.1 (1.9) | 5.9 (3.2) | 7.0 (2.5) | 9.3 (4.2) | 8.1 (2.2) | 8.8 (2.8) | 11.4 (5.3) | 9.4 (3.5) | 12.3 (2.3) | 7.4 (3.0) | 8.8 (2.8) |
GYR | 5.2 (2.8) | 5.1 (1.3) | 6.3 (2.1) | 5.9 (2.3) | 9.7 (3.6) | 8.7 (2.7) | 8.3 (2.8) | 11.1 (5.3) | 7.4 (2.9) | 8.6 (4.4) | 7.4 (2.8) | 7.7 (3.2) |
KF | 2.7 (1.0) | 4.4 (1.8) | 5.2 (3.2) | 6.5 (2.4) | 7.8 (3.4) | 6.2 (1.3) | 8.1 (2.8) | 10.5 (5.9) | 5.1 (2.0) | 8.3 (3.4) | 5.9 (2.5) | 7.2 (2.9) |
MAD | 2.4 (0.9) | 4.1 (1.5) | 4.6 (3.0) | 5.9 (2.2) | 8.0 (3.3) | 6.6 (1.1) | 8.0 (2.9) | 10.2 (6.3) | 5.3 (2.3) | 8.0 (4.6) | 5.5 (2.3) | 6.9 (3.1) |
CF | 3.4 (1.5) | 5.1 (1.9) | 6.3 (3.3) | 7.1 (2.5) | 9.5 (3.8) | 8.5 (2.1) | 9.5 (2.8) | 11.6 (5.3) | 10.5 (3.9) | 12.7 (2.5) | 7.9 (3.1) | 9.00 (2.9) |
Kinect | 2.9 (0.9) | 2.7 (1.2) | 3.7 (1.3) | 3.8 (1.1) | 7.0 (3.2) | 5.8 (3.4) | 8.6 (3.4) | 10.3 (6.0) | 5.7 (1.4) | 7.1 (2.1) | 5.6 (2.0) | 5.7 (2.8) |
Mean | 3.3 (1.4) | 4.4 (1.6) | 5.3 (2.7) | 6.0 (2.1) | 8.6 (3.6) | 7.3 (2.1) | 8.6 (2.9) | 10.7 (5.7) | 7.3 (2.7) | 9.3 (3.2) | 6.6 (2.7) | 7.6 (3.0) |