Among the three types of wearable sensors (acceleration, gyro, and magnetic) used to measure joint angles, it is not clear which sensor provides the most accurate measurement of thigh tilt angle during daily walking, which is important for assessing walking speed loss. The purpose of this study was to compare the errors of the three types of sensors due to physical motion. 12 healthy male subjects wearing the sensors and markers were subjected to perform 3 patterns of foot-stepping and 2 patterns of walking. For the foot-stepping experiment, we calculated the deviation (error) from the data obtained from each of the three types of sensors for each 10% of the walking cycle, assuming that the data values obtained from the video analysis were true values. For the walking experiment, we evaluated the homology between the data patterns obtained from each of the three types of sensors. The results showed that the error of the accelerometer was the largest in the case of fast foot-stepping. In the walking experiment, the data pattern obtained from the gyro sensor was not homologous to the data pattern obtained from the other two sensors. These results indicate that the magnetic sensor is the least sensitive to the effects of body motion.