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

<table>Experimental setup for the angle measurement during treadmill walking (a) and the angle measurement using rigid body model (b). M1: the acromion, M2: along the long axis of the trunk at the same height as the iliospinale anterius, M3: the great trochanter, M4: the lateral femoral condyle, M5: the caput fibulae, M6: the lateral malleolus, M7: the metatarsale fibulare, and M8: on the foot at the same height as the metatarsale fibulare along the line of shank markers.</table>

Computational and Mathematical Methods in Medicine

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Figure 2

Figure 2: Effectiveness of Variable-Gain Kalman Filter Based on Angle Error Calculated from Acceleration Signals in Lower Limb Angle Measurement with Inertial Sensors 

Figure 2 | Effectiveness of Variable-Gain Kalman Filter Based on Angle Error Calculated from Acceleration Signals in Lower Limb Angle Measurement with Inertial Sensors 