1. Motion capture device of a structure consisting of N successive solid segments articulated with respect to one another from a segment of rank 1 as far as a segment of rank N, N being an integer number greater than or equal to 2, the segment of rank n (n=2,. .. , N) being articulated with the segment of rank n−1 at an articulation point p n , the motion capture device comprising: first means (ML) that deliver information able to restore an absolute acceleration vector {right arrow over (a)} 1 of a point on the segment of rank 1 in a reference frame forming a reference, at successive times t k , k being an integer number greater than or equal to 1, second measuring means (MD 1 ) fixed to the segment of rank 1 and which deliver, at each time t k , a measurement (M 1 ) representing an orientation vector {right arrow over (Θ)} 1 of the segment of rank 1 in the reference frame, and supplementary measurement means (MD n ) fixed to each segment of rank n (n=2,. .. , N), and which deliver, at each time t k , a measurement representing an orientation vector {right arrow over (Θ)} n of the segment of rank n.