Theoretical background of using IMU which includes (Accelerometer , Gyroscope, Magnetometer) and Accelerometers in calculation of human and robotic angle and other parameters 1- Background of using sensors to find robot and human parameters 2- Sensors background a. 9DOF IMU b. Accelerometer c. Magnetometers d. Gyroscope 3- Sensor filtering a. Background b. Low pass filter c. Kalman filter 4- Robot parameter calculation in 3 dimension a. Angular velocity b. Angular acceleration c. Torque Please include equation flow chart and figs