Table 3.

RMSE, nRMSE, and r (mean ± standard deviation) between model predictions and ground truth kinematics for models trained on all activities and tested on individual activities. Bold indicates most accurate model Confarchitecture for that activity.

Metric	Model	Train: All Test: LW	Train: All Test: RA	Train: All Test: RD	Train: All Test: SA	Train: All Test: SD
RMSE°	MLR	8.5 ± 2.1	21.7 ± 10.3	22.5 ± 10.8	8.9 ± 3.4	9.0 ± 3.5
	CNNLSTM	12.3 ± 5.6	9.7 ± 3.8	7.8 ± 2.4	6.8 ± 2.3	7.5 ± 2.7
	BiLSTM	5.3 ± 1.6	7.5 ± 2.1	7.4 ± 2.1	7.5 ± 2.6	7.3 ± 2.8
	BioMAT	5.0 ± 1.5	6.2 ± 1.1	5.8 ± 1.1	5.3 ± 1.6	5.2 ± 0.7
nRMSE	MLR	11.8 ± 1.7	23.3 ± 9.4	27.7 ± 15.9	10.9 ± 3.0	12.3 ± 8.2
	CNNLSTM	16.3 ± 3.3	10.1 ± 2.1	9.2 ± 2.9	8.3 ± 1.6	9.8 ± 5.7
	BiLSTM	7.3 ± 1.7	8.0 ± 0.4	8.7 ± 2.8	9.4 ± 2.8	9.7 ± 6.3
	BioMAT	7.2 ± 2.4	6.7 ± 0.4	6.7 ± 0.3	6.6 ± 1.4	6.8 ± 3.0
r	MLR	0.92 ± 0.03	0.92 ± 0.04	0.87 ± 0.05	0.96 ± 0.04	0.95 ± 0.05
	CNNLSTM	0.85 ± 0.04	0.9 ± 0.04	0.92 ± 0.02	0.97 ± 0.03	0.95 ± 0.03
	BiLSTM	0.97 ± 0.02	0.97 ± 0.01	0.93 ± 0.02	0.98 ± 0.02	0.98 ± 0.01
	BioMAT	0.97 ± 0.03	0.97 ± 0.02	0.94 ± 0.02	0.97 ± 0.04	0.98 ± 0.02

LW: Level Walking, RA: Ramp Ascent, RD: Ramp Descent, SA: Stair Ascent, SD: Stair Descent.