Table 2.

Angle estimation results of CNN and LSTM models for three design strategies

			Speed-specific		Multi-speed		Speed-independent
Foot	Model		Flexion	Inversion	Flexion	Inversion	Flexion	Inversion
Left	CNN	MAE (°)	1.184	0.865	2.592	1.551	2.571	1.540
		RMSE (°)	1.663	1.153	3.490	2.008	3.094	1.881
		R-squared	0.959	0.89	0.839	0.743	0.825	0.643
Right		MAE (°)	1.366	1.034	2.035	1.647	2.000	1.624
		RMSE (°)	1.817	1.355	2.742	2.239	2.555	1.981
		R-squared	0.946	0.859	0.893	0.718	0.880	0.670
Left	LSTM	MAE (°)	0.944	0.734	2.140	1.211	2.125	1.201
		RMSE (°)	1.377	0.98	2.905	1.584	2.540	1.472
		R-squared	0.97	0.918	0.889	0.844	0.877	0.775
Right		MAE (°)	1.138	0.939	1.767	1.432	1.710	1.415
		RMSE (°)	1.558	1.238	2.492	1.991	2.239	1.754
		R-squared	0.957	0.875	0.912	0.772	0.903	0.730