Joint angle and joint moment errors for each marker registration method examined in this study.

Joint angle accuracy (“Angle”) is computed as the RMSE between inverse kinematics calculations and robot encoder data; joint moment accuracy (“Moment”) is computed for the orientation- and user-registered models as the RMSE between inverse dynamics calculations and the estimated moments from the encoder-registered model. Mean and standard deviations across the five OpenSim users are shown for the user-registered models. Mean and standard deviation of marker RMSE are computed for each registration method over all time points.