Fig. 3

Comparison of direct (i.e., forceplate-measured) and indirect (i.e., IMU-based) measurements of the anterior-posterior ground reaction force (AP-GRF). a The AP-GRF time series reconstruction enabled by the primary sensor set (i.e., pelvis, thigh, and shank IMUs) and with each of these IMUs removed is shown for exemplar participants from the healthy and post-stroke cohorts. b Root mean square error (RMSE) and consistency (R²) metrics for each sensor set are shown for each study subject