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In conclusion, the development of novel or improved photoresponsive materials therefore will have to integrate a careful analysis of the interplay between surface chemistry, surface charges and interaction with the material environment or substrate.In this article, we present a novel tight coupling inertial localization system which simultaneously processes the measurements of two inertial measurement units (IMUs) mounted on the leg, namely the upper thigh and the front part of the foot. Moreover, the proposed system exploits motion constr