Figure 1

Experimental setup. Baby doll is positioned on top of two pressure mattresses, and equipped with five IMU bracelets (red ellipses), positioned one on baby doll’s chest, one on each forearm, and one on each upper arm. Ten Optotrak markers (one on baby doll’s forehead, one on each cheek, one on the frontal side of lower abdomen, one on the frontal side of each shoulder joint, one on the lateral side of each elbow joint, one on the dorsal side of each hand) serve as reference (white rectangles). Referential Optotrak and IMU coordinate system orientation is indicated in the lower right corner (white arrows).