Taiki Yoshida

Abstract We aimed to evaluate the applicability of a newly developed joint angle measurement system comprising six-axis inertial measurement unit sensors and tablet-based application for estimating joint angles from angular velocity and acceleration data. The application calculated orientation angles from single sensor data, with relative angles calculated using multiple sensors. In experiment 1, validity and reliability were examined using a test device. In experiment 2, static angles of five joints were calculated in four healthy participants using attached sensors and compared with universal goniometer values. In experiment 3, usability and satisfaction were evaluated using the System Usability Scale (SUS) and Quebec User Evaluation of Satisfaction with Assistive Technology (QUEST)-like scale. In experiment 1, mean difference and root mean squared error (RMSE) between the developed system and test device were < 0.2° and < 1.0°, respectively, across all axes. In experiment 2, when data from all joints were pooled, mean difference and RMSE were 0.2° and 3.8°, respectively. Mean difference and RMSE across each joint were < 5°, indicating the system is comparable to universal goniometer. In experiment 3, median SUS and QUEST-like scores were 73.8 and 4.0, respectively, indicating good usability and satisfaction. The developed system has high accuracy and sufficient validity for human joint angles, with good usability and satisfaction.