Techniques for Human Joint-Angle Estimation with Inertial Sensors for Physiotherapy

This thesis develops practical ways to measure knee movement using small wearable sensors. Current clinical tools are either expensive, laboratory-based, or unsuitable for everyday use at home. This work shows that accurate knee angle measurement can be achieved with simple body-worn sensors. One method uses basic accelerometers and clear geometric principles. A second method uses a single sensor and a computer model to estimate knee angles. The thesis also shows how a single sensor can automatically recognize exercises and walking phases. Together, these approaches make joint-angle measurement more affordable, portable, and suitable for home-based physiotherapy, supporting better rehabilitation and long-term monitoring.