Table 1.

Literature review of joint angle detection methods.

Author	Joint Angle	Sensor	Angle Measured	Mobility	Accuracy	RMSE
Jahanandish et al. [7]	Lower body	Ultrasonic imaging	3-D	Low	100%	N/A
Pang et al. [16]	Lower Body	sEMG	3D	Medium	90%	N/A
Coker et al. [17]	Knee	sEMG	3D	Medium	N/A	0.7
Shi et al. [18]	Lower body	sEMG	3D	Medium	N/A	2.0
Dey et al. [9]	Knee	Body markers	3D	High	99.5%	N/A
Dey et al. [8]	Knee	Body markers	3D	High	N/A	0.97
Sy et al. [14]	Lower body	IMU	3D	High	N/A	5.93
Zhu et al. [26]	Elbow	Resistive fibers	3D	Medium	N/A	N/A
Little et al. [23]	Elbow	sEMG	3D	High	N/A	N/A
Davarzani et al. [33]	Robotic joint	Capacitive plate	3D	Low	N/A	3.63
Choffin et al. [27]	Ankle	FSR	3D	High	93%	N/A