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Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
Architecture of the applied convolutional neural network. The size of the dense layers was found during the hyperband search and differs for the joint angle and joint moment prediction. For the pretrained model, the convolutional and pooling layers were set to be non-trainable.