Figure 1.

Overview of current transformation problem, specifically involving defining a transformation matrix, ${\mathbf{T}}_{\text{Insole}}^{\text{Shoe}}$ between ${({\mathbf{T}}_{\text{shoe}}^{\text{Global}})}^{-1}$ COP^Global and COP^Insole. Here, MT1, MT5, and HEEL, respectively, indicate passive reflective markers on the 1st and 5th metatarsal heads and calcaneus. The subscripts Shoe/Global on the axis labels indicate the shoe/global coordinate system.