Fig. 1

Root mean square (RMS) differences for IMU-based lower extremity joint kinematics over 10 min. Our open-source workflow produced IMU-based kinematics comparable to optical-based kinematics during A a 10-min period of overground walking and B a 10-min sequence of common lower-extremity movements. Median RMS differences between IMU and optical-based kinematics were 3–6° for all joint angles except hip rotation (12°) over all subjects and all minutes. Flat trends across median per-minute RMS differences highlight minimal drift over 10 min. Box plot height is equal to interquartile range with outliers (black dots) defined as values exceeding 1.5 times the interquartile range. The asterisk denotes a different y-axis range. Results shown used the complementary filter [5]