This paper presents a low-cost, lightweight wearable sensing module for real-time multi-degree-of-freedom motion analysis, which is validated using ankle movements from a representative case study. The system is based on a compact inertial measurement unit integrated into a custom-made enclosure and employs Kalman filter-based sensor fusion to estimate three-dimensional joint orientation. An experimental campaign involving sixteen healthy participants was conducted, and measurements were compared against a gold-standard optical motion capture system, Optitrack V120 Trio. Ankle kinematics were analysed across all anatomical planes, including dorsiflexion/plantarflexion, inversion/eversion, and adduction/abduction. Quantitative metrics, including cosine similarity consistently above 0.98 across all movements and root mean square error within 4° on average, demonstrate strong agreement between the angular measuring device and motion capture data, with errors remaining within clinically acceptable limits. The results confirm the feasibility of the proposed system as a reliable, portable, and affordable alternative to laboratory-based measurement technologies. Beyond ankle assessment, the sensing approach is applicable to a wide range of motion-assistive and rehabilitation systems, supporting continuous monitoring, personalised therapy, and future integration into intelligent wearable devices.
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Giovanni Mastrangelo
Betsy Dayana Marcela Chaparro Rico
Marta Russo
Robotics
University of Rome Tor Vergata
Swansea University
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Mastrangelo et al. (Sat,) studied this question.
www.synapsesocial.com/papers/69d5f0ee74eaea4b11a7a67f — DOI: https://doi.org/10.3390/robotics15040076
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