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This project provides a Kalman smoothing algorithm for inverse kinematics in OpenSim.

License: KS example (from OpenSim 4.0), KS example (OpenSim 3.2), KS libaries (from OpenSim 4.0), KS source code (OpenSim 3.2)

This project is a Kalman smoothing algorithm for inverse kinematics. Kalman smoothing improves the estimation of joint kinematics and kinetics in marker-based human gait analysis. Kalman smoothing is an alternative for the global optimization algorithm implemented in the Inverse Kinematics Tool distributed with the OpenSim installation and requires the same input and setup files. Optionally, additional parameters describing the measurement noise and the smoothness of the motion can be specified in the setup file. The algorithm is described in detail in De Groote et al. (2008).

The implementation of the algorithm is on GitHub ( and the latest release is based on a fork from opensim-core created in between the OpenSim 4.1 and 4.2 releases. We will try to update the algorithm with upcoming OpenSim versions.

Please read the README files in KS-libraries and KS-example to find out more about how to use the tool.

Please contact us for any questions: | Please report any issues or suggestions on the GitHub page.


New version available (Nov 2020).

This project provides an executable for the Inverse Kinematics tool based on Kalman smoothing that can be called from the command line. An example setup file to be used with the Gait2354 example distributed with OpenSim is also provided.

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