| Summary: | Inertial Measurements Unit (IMU) based systems are a purposeful and alternative tool to monitor human gait mainly because they are cheaper, smaller and can be used without space restrictions compared to other gait analysis methods. In the scientific community, there are well-known studies that test the accuracy and efficiency of this method compared to ground truth systems. Gait parameters such as stride length, distance, velocity, cadence, gait phases duration and detection, or joint angles are tested and validated in these studies in order to study and improve this technology. In this article, knee joint angles were calculated from IMUs’ data and they were compared with DARwIn OP knee joint angles. IMUs were attached to the left leg of the robot and left knee flexion-extension (F-E) was evaluated. The RMSE values were less than 6 when DARwIn OP was walking, and less than 5 when the robot kept the left leg stretched and performed an angle of-30 . ◦ ◦ ◦
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