Effectiveness of Variable-Gain Kalman Filter Based on Angle Error Calculated from Acceleration Signals in Lower Limb Angle Measurement with Inertial Sensors
Figure 7
An example of waveforms of reference and measured foot inclination angles at normal walking speed. and represent reference angle and angle calculated from acceleration signals, respectively. The -axis shows the gait cycle. The toe off, the heel contact, and the foot flat are represented by TO, HC, and FF, respectively.
