Fig. 6.

Upper-limb joint kinematics computed with the IMU system compared to optical motion capture. (A) An upper-limb task from the Fugl-Meyer assessment simulated cutting food. Subjects picked up a cutting utensil bent over a dish, and performed a cutting motion before placing the utensil back down. The task was repeated ten times to emulate an upper-limb “activity cycle” to look at average kinematics for one subject. (B) In the trunk range of motion task, subjects performed trunk flexion, bending, and then rotation. In both (A) and (B), the bands represent one standard deviation of the RMSE across all subjects.