Test Subject #1

Training Set

# Samples

Hip Flex–Ext

Hip Ad–Ab

Hip Int–Ext

Hip Average

r

RMSE (°)

nRMSE

r

RMSE (°)

nRMSE

r

RMSE (°)

nRMSE

r

RMSE (°)

nRMSE

Measured

3943

0.97 ± 0.02

3.4 ± 1.1

7.3 ± 2.4

0.94 ± 0.04

2.0 ± 0.6

9.4 ± 3.0

0.84 ± 0.08

2.0 ± 0.6

11.2 ± 3.4

0.92 ± 0.04

2.4 ± 0.8

9.3 ± 2.9

Synthetic

17,255

0.97 ± 0.04

0.97 ± 0.04

3.7 ± 1.7

0.94 ± 0.09

2.2 ± 0.7

10.6 ± 3.3

0.70 ± 0.15

2.7 ± 0.8

15.3 ± 4.6

0.87 ± 0.09

2.9 ± 1.1

11.2 ± 3.8

Measured + Synthetic

20,706

0.97 ± 0.01

0.97 ± 0.01

3.5 ± 0.9

0.96 ± 0.02

1.6 ± 0.4

7.4 ± 1.8

0.87 ± 0.08

2.0 ± 0.5

11.1 ± 2.8

0.94 ± 0.04

2.4 ± 0.6

8.7 ± 2.2

Training Set

# Samples

Knee Flex–Ext

Knee Ad–Ab

Knee Int–Ext

Knee Average

r

RMSE (°)

nRMSE

r

RMSE (°)

nRMSE

r

RMSE (°)

nRMSE

r

RMSE (°)

nRMSE

Measured

3943

0.99 ± 0.01

2.2 ± 0.7

3.0 ± 0.9

0.49 ± 0.20

1.9 ± 0.5

14.3 ± 3.6

0.69 ± 0.11

4.6 ± 0.9

23.5 ± 4.6

0.72 ± 0.10

2.9 ± 0.7

13.6 ± 30.0

Synthetic

17,255

0.99 ± 0.01

2.3 ± 0.7

3.1 ± 0.9

0.76 ± 0.10

2.2 ± 0.6

16.9 ± 4.3

0.85 ± 0.06

2.6 ± 0.4

13.3 ± 2.3

0.87 ± 0.06

2.4 ± 0.6

11.1 ± 2.5

Measured + Synthetic

20,706

0.99 ± 0.01

1.6 ± 0.4

2.2 ± 0.6

0.91 ± 0.06

0.9 ± 0.3

7.0 ± 2.0

0.94 ± 0.04

2.1 ± 0.5

10.5 ± 2.7

0.95 ± 0.03

1.5 ± 0.4

6.6 ± 1.8