Quantification of gait parameters with inertial sensors and inverse kinematics

We found the precision of the Kalman filtered angular position is in the range of 2-6° (RMS error). The 4-segment leg model computed stride length and length of gait path with a constant undershoot of 3% for slow and 7% for fast gait. The integration of a 5th segment (pelvis) into the model increased its precision. The advantages of this model and ideas for further improvements are discussed.