Table II.

Correlation Coefficient between the Gold-Standard and Estimated GRF for the Baseline and a Variety of Pre-trained Models.

Dataset	Model	Correlation Coefficient
		mlGRFa	apGRFa	vGRFa
Overground Walking	Supervised Learning Baseline	0.94 ± 0.03	0.93 ± 0.02	0.92 ± 0.03
	Motion Transfer Pre-training	0.95 ± 0.02	0.93 ± 0.02	0.93 ± 0.03
	Task Transfer Pre-training	0.96 ± 0.01	0.94 ± 0.02	0.94 ± 0.02
	Proposed SSL Pre-trainingb	0.96 ± 0.02	0.94 ± 0.02	0.94 ± 0.03
Treadmill Walking	Supervised Learning Baseline	0.89 ± 0.02	0.96 ± 0.01	0.93 ± 0.03
	Motion Transfer Pre-training	0.92 ± 0.01	0.97 ± 0.01	0.96 ± 0.02
	Task Transfer Pre-training	0.93 ± 0.01	0.98 ± 0.01	0.97 ± 0.01
	Proposed SSL Pre-trainingb	0.94 ± 0.02	0.98 ± 0.01	0.97 ± 0.02
Drop Landing	Supervised Learning Baseline	0.74 ± 0.12	0.88 ± 0.08	0.93 ± 0.05
	Motion Transfer Pre-training	0.75 ± 0.12	0.87 ± 0.09	0.93 ± 0.04
	Task Transfer Pre-training	0.75 ± 0.13	0.90 ± 0.08	0.93 ± 0.05
	Proposed SSL Pre-trainingb	0.75 ± 0.12	0.90 ± 0.08	0.92 ± 0.06

^aml: medial-lateral; ap: anterior-posterior; v: vertical

^bThe model is pre-trained on the synthetic IMU dataset.