Deep ensemble learning approach for lower extremity activities recognition using wearable sensors

摘要

Abstract Human walking is a very challenging task and always requires rigorous practice. It is a learning process that involves the complex coordination of the brain and lower limbs. The bipedal robots that mimic the human morphological structure to produce human similar walking, are not capable of producing an efficient walk. Due to walking challenges and structural differences, a robot cannot walk like a human being. In this research, to achieve the aforementioned objective to produce a human similar walk, human lower extremity activities are considered to understand walking behaviour. The experiment involves different walking styles on different terrains. To capture the learning process of bipedal robot locomotion, a deep learning‐based ensemble classifier is introduced for human lower activities recognition. To understand the learning process seven different walking activities are considered for analysis purposes. An Inertial measurement unit (IMU) is used as a wearable device due to its small form factor and unobtrusive nature to capture the walking movement of different lower limbs joints. Three public datasets viz. mHealth, OU‐ISIR similar action and HAPT inertial sensor data sets are considered for this study. To classify the activities, 2 different deep learning models namely convolutional neural network (CNN) and long short‐term memory (LSTM) are used. To generalize the results, an ensemble of different classifiers is implemented. The Classifier has reported accuracy of 99.25%, 88.48% and 97.44%, respectively, on the aforementioned data sets. This work can be utilized for elderly subjects' postural stability, rehabilitation of patients post‐stroke and trauma, generation of robot walk trajectories in cluttered environment and reconstruction of impaired walking.