Wearable technology and sensor fusion techniques have enabled the study of mobility in real-life conditions, with a specific focus on Inertial Measurement Units (IMUs) due to their portability and versatility. A popular and powerful configuration proposed and validated in the literature (Salis, 2023) involves instrumenting the pelvis and feet with IMUs. This setup allows the capture of spatio-temporal parameters and center-of-mass movements but lacks information about joint angles. Consequently, the description of lower limb movements remains incomplete. To obtain a comprehensive understanding of joint angles and reconstruct lower limb kinematics, attaching an IMU to each segment forming the joint would be necessary.