Table 5.

Denavit-Hartenberg (DH) coordinates for the three segment kinematic chain model used for simulating the sim-fast-artificial data sequence. The angles ${\alpha }_{[0:5]}(t)$ and ${\theta }_{[0:2]}(t)$ are the Degrees of Freedom (DoFs) that are controlled via Equation (20). The Inertial Measurement Unit (IMU)-to-Segment (I2S) positions are given by translations along the bone, in z-direction relative to the segment origins (i.e., DH$(z,0,0,0)$). The initial chain configuration (pointing up opposite gravity) is illustrated on the right.

Segment ($S_i$)	d	a	${\alpha }_j(t)$	${\theta }_j(t)$	IMU	Image
$S_0$	0	0	${\alpha }_0(t)$	$-\frac{pi}{2}$	None
	0	0	${\alpha }_1(t)$	$\frac{pi}{2}$	None
	0	0	0	${\theta }_0(t)$	None
	$0.4$	0	0	0	$z=0.3$
$S_1$	0	0	${\alpha }_2(t)$	$-\frac{pi}{2}$	None
	0	0	${\alpha }_3(t)$	$\frac{pi}{2}$	None
	0	0	0	${\theta }_1(t)$	None
	$0.4$	0	0	0	$z=0.3$
$S_2$	0	0	${\alpha }_4(t)$	$-\frac{pi}{2}$	None
	0	0	${\alpha }_5(t)$	$\frac{pi}{2}$	None
	0	0	0	${\theta }_2(t)$	None
	$0.2$	0	0	0	$z=0.1$