Fig. 2

Schematic of the TUG task and motion capture system based on IMU. a Spatial schematic of a TUG path and different transition points. Seven transitions were identified among the activities performed during a TUG. These transitions are: 1) sit-to-stand 2) stand-to-walk out 3) walk out-to-turn 4) turn-to-walk in 5) walk in-to-turn 6) turn-to-stand 7) stand-to-sit. b Diagram of the 17 IMUs and their locations on the suit. c A close-up view of the IMU on the shoulders, trunk, and hip. d Using the right-hand Cartesian coordinate system, the y-axis is aligned along the length of the IMU while the x-axis is aligned along the width of the IMU. Most IMU were positioned on the body with the y-axis aligned along the limb segment, except for the IMU on the head, where the x-axis was aligned with the rotation of the head