Table 4.

Analysis and comparison of compositive joint angles (θ₁, θ₂, and θ₃) derived from the IMUs and RCS in STS tasks performed by patients.

Patients	Ankle joint angle θ1 (rad)			Knee joint angle θ2 (rad)			Hip joint angle θ3 (rad)
	RMSE	R	e max	RMSE	R	e max	RMSE	R	e max
1	0.117	0.805	0.103	0.069	0.808	0.217	0.049	0.848	0.180
2	0.159	0.819	0.124	0.075	0.751	0.324	0.051	0.741	0.184
3	0.235	0.740	0.131	0.087	0.748	0.255	0.054	0.788	0.232
4	0.257	0.737	0.205	0.090	0.745	0.207	0.063	0.692	0.243
5	0.362	0.625	0.166	0.096	0.713	0.269	0.070	0.715	0.199
Average	0.226	0.745	0.146	0.083	0.753	0.254	0.057	0.757	0.208