Table 3.
Differences between the IMU KF and Kinect estimates during lab and at-home tests for each of the three subjects analyzed
| Trunk Sag. | Trunk Front. | Hip Sag. | Hip Front. | Knee Flex. | Mean | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RMSD | Std. | Max | RMSD | Std. | Max | RMSD | Std. | Max | RMSD | Std. | Max | RMSD | Std. | Max | RMSD | Std. | Max | |
| S1 | ||||||||||||||||||
| Lab | 2.3 | 0.6 | 14.5 | 6.4 | 4.7 | 26.9 | 5.3 | 2.1 | 49.2 | 4.9 | 0.8 | 46.1 | 7.3 | 1.2 | 75.5 | 5.3 | 1.9 | 42.4 |
| Home | 2.0 | 1.2 | 11.2 | 5.2 | 3.0 | 27.3 | 8.3 | 4.6 | 41.7 | 13.6 | 6.1 | 56.3 | 15.8 | 7.5 | 81.7 | 9.0 | 4.5 | 43.6 |
| S2 | ||||||||||||||||||
| Lab | 2.6 | 0.8 | 15.8 | 4.4 | 2.6 | 25.9 | 5.9 | 1.7 | 29.2 | 5.9 | 0.7 | 35.7 | 8.3 | 1.5 | 72.0 | 5.4 | 1.5 | 35.7 |
| Home | 1.9 | 0.7 | 6.5 | 5.3 | 3.6 | 13.8 | 12.5 | 4.4 | 41.8 | 8.8 | 4.3 | 30.0 | 14.1 | 4.3 | 47.5 | 8.5 | 3.5 | 27.9 |
| S3 | ||||||||||||||||||
| Lab | 3.2 | 0.9 | 12.1 | 4.6 | 1.3 | 14.2 | 8.8 | 4.8 | 29.3 | 6.7 | 1.7 | 18.7 | 5.3 | 1.6 | 24.6 | 5.7 | 2.1 | 19.8 |
| Home | 2.3 | 0.4 | 8.5 | 3.9 | 0.6 | 9.4 | 5.5 | 2.3 | 20.4 | 5.9 | 4.0 | 21.6 | 15.1 | 4.8 | 40.7 | 6.5 | 2.4 | 20.1 |
| All | ||||||||||||||||||
| Lab | 2.9 | 0.9 | 14.4 | 5.3 | 2.7 | 22.1 | 6.4 | 2.7 | 33.9 | 5.7 | 1.2 | 31.5 | 7.1 | 1.7 | 54.7 | 5.5 | 1.8 | 31.3 |
| Home | 2.1 | 0.7 | 8.7 | 4.8 | 2.4 | 16.8 | 8.8 | 3.8 | 34.6 | 9.4 | 4.8 | 36.0 | 15.0 | 5.5 | 56.6 | 8.0 | 3.5 | 30.6 |
Root Mean Square Difference (RMSD), standard deviation and maximum difference between the two systems are reported. Unit is degree