Interpretable side-aware kinematic-sEMG gait-state representations relevant to adaptive neurorobotic assistance after...

Adaptive lower-limb neurorobotics requires gaitd-state representations that preserve locomotor structure without reducing post-stroke walking to a single asymmetry score or opaque latent embedding. Because post-stroke gait is multimodal and side dependent, transparent side-aware representations may better support future adaptive-assistance design than modality-isolated summaries.

This secondary analysis used a public multimodal gait dataset comprising 138 able-bodied adults and 50 adults with stroke. The analytic space was restricted to 11 waveform domains shared across public exports: four sagittal kinematic waveforms and seven repository-normalized surface electromyography waveforms, each represented by 1,001 time-normalized points. Stroke waveforms were organized into paretic, non-paretic, bilateral-mean, and side-difference views, with side difference defined as paretic minus non-paretic. Domain-view functional principal component analysis retained 90% cumulative variance, capped at three components per block; family-level reduction retained 90% variance, capped at eight components. Candidate Ward hierarchical and K-means solutions from two to five states were screened in kinematics-only, sEMG-only, fused, paretic-only, and erector-spinae-excluded spaces.

The retained fused side-aware solution organized the strict complete-case stroke cohort (n = 43) into three states: State 1 (n = 12), State 2 (n = 18), and State 3 (n = 13). The strongest fused two-state K-means comparator showed higher compactness and resampling stability than the retained three-state solution [silhouette 0.189; bootstrap adjusted Rand index (ARI) 0.876 versus silhouette 0.155; bootstrap ARI 0.633]. However, the three-state solution was retained as a representation-level choice because it avoided trivial micro-clusters, preserved explicit multimodal side-aware structure, and enabled clearer waveform-level interpretation. Sensitivity analyses showed identical assignments after erector-spinae exclusion (ARI = 1.000), partial concordance under robust scaling (ARI = 0.785), and material reassignment when the block cap was reduced to two components (ARI = 0.335). The strongest domain contributors were ankle angle (1.000), vastus lateralis sEMG (0.898), knee angle (0.866), gastrocnemius sEMG (0.851), and tibialis anterior sEMG (0.840).

Public waveform exports supported an internally interpretable, side-aware multimodal representation of post-stroke gait relevant to neurorobotic state-representation design. This contribution remains exploratory and representational, not clinical, interventional, real-time, or controller-validating; for future studies, it should be interpreted as a hypothesis-generating framework.