Figure 6.

Accuracy of the estimated vertical ground reaction force (vGRF) and knee flexion/extension (F/E) angle for different evaluated speeds, hence the other speeds are part of the training dataset, using single subject training and evaluation, as described in section 2.4. The artificial neural networks were trained with and evaluated relative to a full-body inertial kinematic measurement (Table 1, training scheme 1). The results for a representative subject are shown in this graph. The Root Mean Squared Error (RMSE) is calculated over all stride/stance phases and averaged over approximately 200 strides for each different evaluated speed (10, 12, and 14 km/h).