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Nowadays the opportunity to have a smart human motion tracking systems represents an interesting instrument in a wide range of advanced application, such as gaming, augmented reality, telemedicine, rehabilitation and many other human machine interaction applications. In this paper the authors want to propose system architecture to implement a wearable system for real-time human motion capture. The presented system are based on a network of smart inertial measurement units (IMUs) distributed on the human body to estimate the orientation of the limbs. Each of these modules is provided by miniature MEMS 3-axes accelerometer, three MEMS gyroscopes, a MEMS 3-axes magnetometer, and a MCU for collecting measurements from the sensors and compute the orientation through a customized Extended Kalman Filter (EKF) for sensor fusion.