Table 5.
Third experiment: last 10 steps of 75 m walking trials estimation RMSE.
| Mounted Sensor | Maximum Error | RMSE | Standard Deviation | ||
|---|---|---|---|---|---|
| Waist | Roll | KF1 | 20.89 | 20.05 | 0.08 |
| KF2 | 7.81 | 3.30 | 2.33 | ||
| Proposed | 2.99 | 1.91 | 0.68 | ||
| Pitch | KF1 | 2.34 | 1.05 | 0.71 | |
| KF2 | 10.78 | 8.51 | 1.38 | ||
| Proposed | 0.60 | 0.26 | 0.16 | ||
| Neck | Roll | KF1 | 15.62 | 14.88 | 0.24 |
| KF2 | 6.63 | 4.98 | 1.27 | ||
| Proposed | 2.21 | 1.32 | 0.34 | ||
| Pitch | KF1 | 2.84 | 1.35 | 0.67 | |
| KF2 | 4.52 | 2.27 | 1.57 | ||
| Proposed | 0.94 | 0.48 | 0.31 | ||
| Wrist | Roll | KF1 | 20.06 | 18.08 | 0.74 |
| KF2 | 15.86 | 8.31 | 5.02 | ||
| Proposed | 1.84 | 0.97 | 0.54 | ||
| Pitch | KF1 | 8.50 | 3.90 | 3.21 | |
| KF2 | 26.90 | 21.35 | 2.98 | ||
| Proposed | 1.21 | 0.48 | 0.37 | ||