os-eskf

Error State Kalman Filter for estimating gait kinematics through 2-IMUs . Thanks for checking out repository !

Link to experiemental data

https://purr.purdue.edu/publications/4012/about?v=1

Prosthesis implementation

Matlab :

1. Download experiemtal Data
2. Run prosthesis_code/MATLAB/eskf_script.m

C++ :

1. Make sure all include files are configured in workspace
2. Updae ert_main.cpp with desired ESKF sampling frequency
3. Run ert_main.cpp

Human subject implementation

1. Download experiemtal Data
2. Run human_code/eskf_ankle_script.m