Second-order model (Walk)

lowerback-Yrot

Iradius—Xrot

Sequence

Samples

NMSE

NLPD

NMSE

NLPD

MC+

S10

0.12

2.43

0.69

7.29

MC+

S30

0.04

1.09

0.98

17.95

MC+

S60

0.21

2.43

0.16

6.43

MC+

S100

0.12

1.42

0.11

4.82