{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,8]],"date-time":"2026-07-08T21:57:48Z","timestamp":1783547868395,"version":"3.55.0"},"reference-count":146,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2023,7,19]],"date-time":"2023-07-19T00:00:00Z","timestamp":1689724800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000923","name":"Australian Research Council","doi-asserted-by":"publisher","award":["FT200100098"],"award-info":[{"award-number":["FT200100098"]}],"id":[{"id":"10.13039\/501100000923","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Inertial measurement units (IMUs) have become the mainstay in human motion evaluation outside of the laboratory; however, quantification of 3-dimensional upper limb motion using IMUs remains challenging. The objective of this systematic review is twofold. Firstly, to evaluate computational methods used to convert IMU data to joint angles in the upper limb, including for the scapulothoracic, humerothoracic, glenohumeral, and elbow joints; and secondly, to quantify the accuracy of these approaches when compared to optoelectronic motion analysis. Fifty-two studies were included. Maximum joint motion measurement accuracy from IMUs was achieved using Euler angle decomposition and Kalman-based filters. This resulted in differences between IMU and optoelectronic motion analysis of 4\u00b0 across all degrees of freedom of humerothoracic movement. Higher accuracy has been achieved at the elbow joint with functional joint axis calibration tasks and the use of kinematic constraints on gyroscope data, resulting in RMS errors between IMU and optoelectronic motion for flexion\u2013extension as low as 2\u00b0. For the glenohumeral joint, 3D joint motion has been described with RMS errors of 6\u00b0 and higher. In contrast, scapulothoracic joint motion tracking yielded RMS errors in excess of 10\u00b0 in the protraction\u2013retraction and anterior-posterior tilt direction. The findings of this study demonstrate high-quality 3D humerothoracic and elbow joint motion measurement capability using IMUs and underscore the challenges of skin motion artifacts in scapulothoracic and glenohumeral joint motion analysis. Future studies ought to implement functional joint axis calibrations, and IMU-based scapula locators to address skin motion artifacts at the scapula, and explore the use of artificial neural networks and data-driven approaches to directly convert IMU data to joint angles.<\/jats:p>","DOI":"10.3390\/s23146535","type":"journal-article","created":{"date-parts":[[2023,7,19]],"date-time":"2023-07-19T21:22:58Z","timestamp":1689801778000},"page":"6535","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":62,"title":["Conversion of Upper-Limb Inertial Measurement Unit Data to Joint Angles: A Systematic Review"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0009-0006-1978-8645","authenticated-orcid":false,"given":"Zhou","family":"Fang","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering, The University of Melbourne, Melbourne 3052, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sarah","family":"Woodford","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, The University of Melbourne, Melbourne 3052, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Damith","family":"Senanayake","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, The University of Melbourne, Melbourne 3052, Australia"},{"name":"Department of Mechanical Engineering, The University of Melbourne, Melbourne 3052, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"David","family":"Ackland","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, The University of Melbourne, Melbourne 3052, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,7,19]]},"reference":[{"key":"ref_1","first-page":"CD010820","article-title":"Interventions for improving upper limb function after stroke","volume":"11","author":"Pollock","year":"2014","journal-title":"Cochrane Database Syst. 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