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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