Gait Speed and Task Specificity in Predicting Lower-Limb Kinematics: A Deep Learning Approach Using Inertial Sensors

To develop a deep learning framework to predict lower-limb joint kinematics from inertial measurement unit (IMU) data across multiple gait tasks (walking, jogging, and running) and evaluate the impact of dynamic time warping (DTW) on reducing prediction errors.

Data were collected from 18 participants fitted with IMUs and an optical motion capture system between May 25, 2023, and May 30, 2023. A long short-term memory autoencoder supervised regression model was developed. The model consisted of multiple long short-term memory and convolution layers. Acceleration and gyroscope data from the IMUs in 3 axes and their magnitude for the proximal and distal sensors of each joint (hip, knee, and ankle) were inputs to the model. Optical motion capture kinematics were considered ground truth and used as an output to train the prediction model.

The deep learning models achieved a root-mean-square error of less than 6° for hip, knee, and ankle joint sagittal plane angles, with the ankle showing the lowest error (5.1°). Task-specific models reported enhanced performance during certain gait phases, such as knee flexion during running. The application of DTW significantly reduced root-mean-square error across all tasks by at least 3° to 4°. External validation of independent data confirmed the model's generalizability.

Our findings underscore the potential of IMU-based deep learning models for joint kinematic predictions, offering a practical solution for remote and continuous biomechanical assessments in health care and sports science.