TABLE 1. Averaged RMSE Error in Angle Estimation for Arm Exercises in Comparison to Kinect© and VICON System Based Measurements.
| Averaged RMSE of Non- Optimization Quaternion | Averaged RMSE of Optimized Quaternion | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Compared to Kinect© Optical System | Compared to VICON Optical System | Compared to Kinect© Optical System | Compared to VICON Optical System | |||||||||
| EKF | REKF | REKFLM | EKF | REKF | REKFLM | EKF | REKF | REKFLM | EKF | REKF | REKFLM | |
| Forward Flexion-Extension | 14.76° | 9.35° | 4.08° | 8.42° | 4.77° | 2.81° | 8.46° | 5.00° | 3.51° | 5.22° | 3.29° | 2.25° |
| Abduction-Adduction | 11.80° | 7.12° | 3.99° | 6.77° | 5.35° | 3.04° | 7.75° | 3.61° | 3.08° | 5.29° | 3.26° | 2.38° |
| Backward Flexion- Extension | 9.29° | 6.70° | 3.02° | 5.18° | 3.32 | 2.15° | 8.45° | 5.75° | 2.39° | 4.14° | 2.51° | 2.01° |
| Horizontal Flexion- Extension | — | — | — | 15.32° | 8.32° | 5.48° | — | — | — | 6.08° | 3.67° | 3.13° |