A Preliminary Study on Prediction of Initial Contact Timing During Gait Using LSTM for FES Control

This study focused on feedback FES control of foot movements of hemiplegic gait. In order to create target movement trajectory, prediction of initial contact (IC) timing would be useful. In this paper, a method for predicting the IC timing using LSTM network was tested. The prediction was based on short-term historical signal data of an inertial sensor mounted on the foot. The prediction test were performed for measured data with 2 healthy individuals. The results showed that the mean and standard deviation of the errors tended to decrease as the percentage of the gait cycle increased, with a significant decrease after heel-off. The proposed method was suggested to be applicable in IC timing prediction.