Fig. 3

Effect of downweighting distal IMU sensors when solving inverse kinematics. Reducing the relative weighting on the shank orientations and the feet orientations when solving inverse kinematics helped reduce mean joint angle root mean square (RMS) difference in the 10th minute. To highlight how this downweighting influenced all joint kinematics, this analysis included mean joint angle RMS differences for the four subjects who did not have IMUs excluded and results computed from the complementary filter