Continuous Prediction of Leg Kinematics during Walking using Inertial Sensors, Smart Glasses, and Embedded Computing

Unlike traditional hierarchical controllers for ro- botic leg prostheses and exoskeletons, continuous systems could allow persons with mobility impairments to walk more naturally in real-world environments without requiring high-level switch- ing between locomotion modes. To support these next-genera- tion controllers, we developed a new system called KIFNet (Kin- ematics and Image Fusing Network) that uses lightweight and efficient deep learning models to continuously predict the leg kinematics during walking. We tested different sensor fusion methods to combine kinematics data from inertial sensors and computer vision data from smart glasses and found that adaptive instance normalization achieved the lowest RMSE predictions for knee and ankle joint kinematics. We also deployed our model on an embedded device. Without inference optimization, our model was 20 times faster than the previous state-of-the-art and achieved 20% higher prediction accuracies, and during some lo- comotor activities like stair descent, decreased RMSE up to 300%. With inference optimization, our best model achieved 125 FPS on an NVIDIA Jetson Nano. These results demonstrate the potential to build fast and accurate deep learning models for continuous prediction of leg kinematics during walking based on sensor fusion and embedded computing, therein providing a foundation for real-time continuous controllers for robotic leg prostheses and exoskeletons.