Exploring the contribution of joint angles and sEMG signals on joint torque prediction accuracy using LSTM-based deep learning techniques.

ABSTRACT

Machine learning (ML) has been used to predict lower extremity joint torques from joint angles and surface electromyography (sEMG) signals. This study trained three bidirectional Long Short-Term Memory (LSTM) models, which utilize joint angle, sEMG, and combined modalities as inputs, using a publicly accessible dataset to estimate joint torques during normal walking and assessed the performance of models, that used specific inputs independently plus the accuracy of the joint-specific torque prediction. The performance of each model was evaluated using normalized root mean square error (nRMSE) and Pearson correlation coefficient (PCC). Each model's median scores for the PCC and nRMSE values were highly convergent and the bulk of the mean nRMSE values of all joints were less than 10%. The ankle joint torque was the most successfully predicted output, having a mean nRMSE of less than 9% for all models. The knee joint torque prediction has reached the highest accuracy with a mean nRMSE of 11% and the hip joint torque prediction of 10%. The PCC values of each model were significantly high and remarkably comparable for the ankle (∼ 0.98), knee (∼ 0.92), and hip (∼ 0.95) joints. The model obtained significantly close accuracy with single and combined input modalities, indicating that one of either input may be sufficient for predicting the torque of a particular joint, obviating the need for the other in certain contexts.