A motion capture device provided for capturing motion of a limb having two sections, connected by a flexing joint. A sensor array is mounted to a first section of a limb, having at least one gyroscopic sensor element and at least one accelerometer. A sensor for attachment across the flexible joint is coupled to the sensor array and extends away from the sensor array across the flexing joint to a second section of the limb, where the location and motion of the limb is captured by a combination of data obtained from the at least one gyroscopic sensor element and at least one accelerometer of the sensor array and the sensor for said flexible joint.
