1. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 Orientation of a body segment; (a) quaternion, (b) roll (θ), pitch ( ϕ ), and yaw (ψ) Figure Legend:

2. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 Position vectors for constructing the whole body motion; (a) a neutral posture, (b) an arbitrary posture. In (b), (k) is omitted for some vectors for the simplicity of representation Figure Legend:

3. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 A set of an IMU and a data receiver; (a) an IMU, (b) a wireless data receiver. In (a), a quarter coin is shown for comparison of the size Figure Legend:

4. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 Sensor installation position and orientation; (a) gyroscope and (b) accelerometer Figure Legend:

5. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 The block diagram of sensor fusion Figure Legend:

6. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 A cut-off frequency with respect to the acceleration magnitude Figure Legend:

7. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 A smart shoe for detecting reference points; (a) a smart shoe, (b) the insole of the smart shoe Figure Legend:

8. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 A scene of experiments; (a) a human subject and (b) a captured motion Figure Legend:

9. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 Sensor fusion results for one-dimensional test; (a) pitch angle and (b) acceleration magnitude Figure Legend:

10. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 Ground reaction forces and motion phases Figure Legend:

11. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 Captured motions; (a) a sitting state, (b) sit-to-stand, and (c) walking Figure Legend:

12. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 An experimental setup for performance verification Figure Legend:

13. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 Experimental results; (a) slow motion and (b) fast motion Figure Legend:

14. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: A Mobile Motion Capture System Based on Inertial Sensors and Smart Shoes J. Dyn. Sys., Meas., Control. 2013;136(1):011002-011002-9. doi:10.1115/1.4025207 An evaluation methods of the proposed motion capture system Figure Legend: