Joint kinematics estimate using wearable inertial and magnetic sensing modules

In many applications, it is essential that the evaluation of a given motor task is not affected by the restrictions of the laboratory environment. To accomplish this requirement, miniature triaxial inertial and magnetic sensors can be used. This paper describes an anatomical calibration technique for wearable inertial and magnetic sensing modules based on the direct measure of the direction of anatomical axes using palpable anatomical landmarks. An anatomical frame definition for the estimate of joint angular kinematics of the lower limb is also proposed