Effectiveness of Variable-Gain Kalman Filter Based on Angle Error Calculated from Acceleration Signals in Lower Limb Angle Measurement with Inertial Sensors

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="398042.fig.0010a" src="https://static.hindawi.com/articles/cmmm/volume-2013/398042/figures/398042.fig.0010a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Foot inclination angle   </td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="398042.fig.0010b" src="https://static.hindawi.com/articles/cmmm/volume-2013/398042/figures/398042.fig.0010b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Shank inclination angle </td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="398042.fig.0010c" src="https://static.hindawi.com/articles/cmmm/volume-2013/398042/figures/398042.fig.0010c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Thigh inclination angle</td></tr></table></td></tr></table>

<table>Average RMSE values of measured inclination angles during treadmill walking calculated by fixed-gain method (Method 1) and variable-gain method with 3 different parameter settings for the noise ratio.</table>

Computational and Mathematical Methods in Medicine

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Figure 10

Figure 10: Effectiveness of Variable-Gain Kalman Filter Based on Angle Error Calculated from Acceleration Signals in Lower Limb Angle Measurement with Inertial Sensors 

Figure 10 | Effectiveness of Variable-Gain Kalman Filter Based on Angle Error Calculated from Acceleration Signals in Lower Limb Angle Measurement with Inertial Sensors 