An application of inertial sensing to gait analysis is described: the attitude estimation algorithm computes the attitude quaternion associated with a body part, i.e. the foot instep moving in the inertial space, by employing a spherical linear interpolation procedure to compensate for the errors due to the influence of the gyroscope bias. The effectiveness of the approach is demonstrated by simulations.
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A.M. Sabatini (2004) studied this question.
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