Algorithm 1. Pseudo code for turning start and end detection.

01: #Data Access    02: for each IMU attachment #head(HD), Neck(C7), L5, Ankles(LA,RA)    03:  store calibrated ω, a, m    04: end for    05: #Data Filtering: Noise & Drift Removal    06: Access ω    07: Compensation Algorithm: for HD, C7, L5    08: Access ω, a, m    09: Kalman Filtering (KF) Algorithm: for Ankles (LA,RA)    10: #Every possible body segment rotation around VT    11: Access VT of ω    12: Zero-Crossing: for HD, C7, L5, Ankles    13: #Orientation Estimation    14: Integration ω VT to get Yaw: for HD, C7, L5    15: Sensor fusion with KF to Euler to Yaw: for Ankles    16: #Final Turn Detection and Estimation for HD, C7, L5    17: Yaw angle (ᴪ) extraction based on zero-crossing    18: for every ᴪ    19:   #Gradual Turns Combination    20:  if ᴪ > 10° and for next consecutive turns if intra turn    21:   duration < 0.5 s and ᴪ > 10° and same Direction    22:    Combine these gradual turns    23:  end    24:  #Turns from HD & C7    25:  if turn angle (θ) ≥ 30° and 0.5 s ≤ turn duration < 10 s    26:    Save turn start and end    27:    Save final gradual turn magnitude vector    28:  end    29:  #Turns from L5    30:  if turn angle (θ) ≥ 90° and 0.5 s ≤ turn duration < 10 s    31:    Save turn start and end    32:    Save final gradual turn magnitude vector    33:  end    34: end for    35: #Turn Transition and Estimation from Ankles (LA, RA)    36: for every turn from L5    37:  Access the turn start and turn end from L5    38:  Access the turn direction from L5    39:  #Inner and outer turn detection to overcome direction biases    40:  if L5 direction is right    41:    Inner turn = RA    42:    Outer turn = LA    43:  else (L5 direction is left)    44:    Outer turn = RA    45:    Inner turn = LA    46:  end    47: end for    48: #Final turn transition from Ankles    49: for angles from Inner and Outer turn    50:  if inner turn angle ≥ 30°    51:    save the turn start and turn end    52:    save the turn magnitude vector    53:  end    54:  if outer turn angle ≥ 30°    55:    save the turn start and turn end    56:    save the turn magnitude vector    57:   end    58: end for #Turning features extraction based on turn start and end time