Abstract: Measuring expended energy of a moving body by providing at least one first sensor for measuring position data of a first part of the moving body, providing at least one second sensor for measuring relative position data of a second part of the moving body, using the first sensor to make a first measurement of the position of the first part over a period of time and subsequently calculating a global expended energy of the first part relative to a reference frame from the first measurement, using the second sensor to make a second measurement of the position of the second part over said period of time and subsequently calculating a relative expended energy of the second part relative to the first part from the first and second measurements.

Abstract: A method of measuring expended energy of a moving body, including providing a first sensor for measuring data of a first part of the moving body; providing a second sensor for measuring data of a second part of the moving body, wherein the second part is moveable relative to the first part and connected to the first part by a first resistive deformable element that is external to the moving body; using the first sensor to make a first measurement and subsequently calculating a global expended energy of the first part relative to a reference frame; using the second sensor to make a second measurement and subsequently calculating a relative expended energy of the second part relative to the first part; and calculating the total expended energy of the moving body by summing the global expended energy with the relative expended energy.

Abstract: A method of measuring expended energy of a moving body, comprising the steps: i) providing at least one first sensor for measuring position data and/or orientation data and/or dynamic data of a first part of the moving body; ii) providing at least one second sensor for measuring relative position data and/or orientation data and/or dynamic data of a second part of the moving body, wherein the second part is moveable relative to the first part and connected to the first part by a first resistive deformable element; iii) using the at least one first sensor to make a first measurement of the position and/or orientation and/or dynamics of the first part over a period of time and subsequently calculating a global expended energy of the first part relative to a reference frame from the first measurement; iv) using the at least one second sensor to make a second measurement of the position and/or orientation and/or dynamics of the second part over said period of time and subsequently calculating a relative expended