Anticipation and Delayed Estimation of Sagittal Plane Human Hip Moments using Deep Learning and a Robotic Hip Exoskeleton

• Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA) pp. 12679 - 12685
• Main Authors: Molinaro, Dean D., Park, Ethan O., Young, Aaron J.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 29.05.2023
• Subjects: Analytical models; Convolutional neural networks; Data models; Estimation; Exoskeletons; Predictive models; Robot sensing systems
• DOI: 10.1109/ICRA48891.2023.10161286

Estimating human joint moments using wearable sensors has utility for personalized health monitoring and generalized exoskeleton control. Data-driven models have potential to map wearable sensor data to human joint moments, even with a reduced sensor suite and without subject-specific calibration. In this study, we quantified the RMSE and R 2 of a temporal convolutional network (TCN), trained to estimate human hip moments in the sagittal plane using exoskeleton sensor data (i.e., a hip encoder and thigh- and pelvis-mounted inertial measurement units). We conducted three analyses in which we iteratively retrained the network while: 1) varying the input sequence length of the model, 2) incorporating noncausal data into the input sequence, thus delaying the network estimates, and 3) time shifting the labels to train the model to anticipate (i.e., predict) human hip moments. We found that 930 ms of causal input data maintained model performance while minimizing input sequence length (validation RMSE and R 2 of 0.141±0.014 Nm/kg and 0.883±0.025, respectively). Further, delaying the model estimate by up to 200 ms significantly improved model performance compared to the best causal estimators (p<0.05), improving estimator fidelity in use cases where delayed estimates are acceptable (e.g., in personalized health monitoring or diagnoses). Finally, we found that anticipating hip moments further in time linearly increased model RMSE and decreased R 2 (p<0.05); however, performance remained strong (R 2 >0.85) when predicting up to 200 ms ahead.