Abstract
Introduction
The ability to walk over various surfaces such as cobblestones, slopes or stairs is a very patient centric and clinically meaningful mobility outcome. Current wearable sensors only measure step counts or walking speed regardless of such context relevant for assessing gait function. This study aims to improve deep learning (DL) models to classify surfaces of walking by altering and comparing model features and sensor configurations.
Method
Using a public dataset, signals from 6 IMUs (Movella DOT) worn on various body locations (trunk, wrist, right/left thigh, right/left shank) of 30 subjects walking on 9 surfaces were analyzed (flat ground, ramps (up/down), stairs (up/down), cobblestones (irregular), grass (soft), banked (left/right)). Two variations of a CNN Bi-directional LSTM model, with different Batch Normalization layer placement (beginning vs end) as well as data reduction to individual sensors (versus combined) were explored and model performance compared in-between and with previous models using F1 scores.
Result
The Bi-LSTM architecture improved performance over previous models, especially for subject-wise data splitting and when combining the 6 sensor locations (e.g. F1=0.94 versus 0.77). Placement of the Batch Normalization layer at the beginning, prior to the convolutional layer, enhanced model understanding of participant gait variations across surfaces. Single sensor performance was best on the right shank (F1=0.88).
Conclusion
Walking surface detection using wearable IMUs and DL models shows promise for clinically relevant real-world applications, achieving high F1 levels (>0.9) even for subject-wise data splitting enhancing the model applicability in real-world scenarios. Normalization techniques, such as Batch Normalization, seem crucial for optimizing model performance across diverse participant data. Also single-sensor set-ups can give acceptable performance, in particular for specific surface types of potentially high clinical relevance (e.g. stairs, ramps), offering practical and cost-effective solutions with high usability. Future research will focus on collecting ground-truth labeled data to investigate system performance in real-world settings.
