Table 2.

Accuracy results obtained during overground walking. Final method outputs are in the IMF_b column.

Angles	Accuracy	Final Residual (r)	IMFb	IMFb−1
Yaw	RMS (deg)	6.2 ± 5.5	2.1 ± 1.3	2.9 ± 1.1
	CC	0.41 ± 0.32	0.68 ± 0.23	0.44 ± 0.27
Pitch	RMS (deg)	1.0 ± 0.5	1.0 ± 0.4	1.0 ± 0.3
	CC	0.76 ± 0.11	0.79 ± 0.34	0.64 ± 0.27
Roll	RMS (deg)	2.9 ± 1.1	1.0 ± 0.5	1.9 ± 0.8
	CC	0.76 ± 0.18	0.71 ± 0.22	0.34 ± 0.27