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Table 2 Mean errors for various IMU orientation estimation algorithms and for the Kinect v2 when compared to the MBS output

From: Kinect and wearable inertial sensors for motor rehabilitation programs at home: state of the art and an experimental comparison

  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)
  1. The standard gait analysis while undressed (GA) and to the one with clothing (GAC) is reported. Unit is degree, mean (and std) over all the performed exercises are reported