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Automatic estimation of physical activity using wearable sensors can be used for promotion of a healthier lifestyle. In this study, accelerometers and gyroscopes attached to ankle, wrist and hip were used to estimate intensity of physical activity. The estimates are compared to metabolic equivalent (MET) obtained from a portable cardiopulmonary exercise testing system. Data from common everyday tasks and exercise were collected with 11 subjects. The tasks include, e.g., ironing, vacuuming, walking, running and cycling on exercise bicycle (ergometer). The strongest linear correlation with metabolic equivalent was obtained with the tri-axial accelerometer attached to the ankle (r=0.86).