IMU Sensors Beneath Walking Surface for Ground Reaction Force Prediction in Gait

Objective: Utilization of inertial measurement units (IMU) data for ground reaction force (GRF) prediction has been widely studied and documented when these sensors attach to the body segments. However, it was inconvenient and required people's cooperation. A novel approach of the current study was setting IMU sensors mounted underneath the walking surface to measure footstep induced structural vibration. We aimed to conduct the force plate to validate the prediction accuracy of this approach. Methods: Fifteen hundred steps were recorded from five individuals. Twenty-four measured features from four IMU sensors were treated as inputs to the long short-term memory model for multidimensional GRF predictions. The GRF data from the force plate were considered as the ground truth for comparisons. The accuracy performance was determined by the normalized root mean square error (NRMSE) method. Results: The averaged NRMSE was 6.05%, 3.93%, and 4.37% for Fx, Fy, and Fz, respectively. Conclusion: The accuracy was comparable with IMU sensors attached to the body, particularly in the vertical direction. The current study demonstrated the feasibility of this approach and successfully predicted ground reaction force with high accuracy. Significance: The validation of IMU sensors mounted underneath the walking surface for GRF prediction provides an alternative method for biometrics in gait.