Single Inertial Sensor-Based Neural Networks to Estimate COM-COP Inclination Angle During Walking
Open accessAbstract
A biomechanical understanding of gait stability is needed to reduce falling risk. As a typical parameter, the COM-COP (center of mass–center of pressure) inclination angle (IA) could provide valuable insight into postural control and balance recovery ability. In this study, an artificial neural network (ANN) model was developed to estimate COM-COP IA based on signals using an inertial sensor. Also, we evaluated how different types of ANN and the cutoff frequency of the low-pass filter applied to input signals could affect the accuracy of the model. An inertial measurement unit (IMU) including an accelerometer, gyroscope, and magnetometer sensors was fabricated as a prototype. The COM-COP IA was calculated using a 3D motion analysis system including force plates. In order to predict the COM-COP IA, a feed-forward ANN and long-short term memory (LSTM) network was developed. As a result, the feed-forward ANN showed a relative root-mean-square error (rRMSE) of 15% while the LSTM showed an improved accuracy of 9% rRMSE. Additionally, the LSTM displayed a stable accuracy regardless of the cutoff frequency of the filter applied to the input signals. This study showed that estimating the COM-COP IA was possible with a cheap inertial sensor system. Furthermore, the neural network models in this study can be implemented in systems to monitor the balancing ability of the elderly or patients with impaired balancing ability.
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Feed-forward ANN had a 15% error rate, whereas the LSTM exhibited a 9% improvement in accuracy.
“The Feed-forward ANN had a 15% error rate, whereas the LSTM exhibited a 9% improvement in accuracy [175].”
From Review of Wearable Devices and Data Collection Considerations for Connected Health (2021) · cites this paper as [175]
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Cites
Human balance and posture control during standing and walking
Winter, D. (1995) · Gait & Posture · doi:10.1016/0966-6362(96)82849-9 · Cited by 3,464 · see citing works
Nweke, H. F., Teh, Y. W., Al-garadi, M. A., & Alo, U. R. (2018) · Expert Systems with Applications · doi:10.1016/j.eswa.2018.03.056 · Cited by 930 · see citing works
A review of evidence of health benefit from artificial neural networks in medical intervention
Lisboa, P. J. G. (2002) · Neural Networks · doi:10.1016/s0893-6080(01)00111-3 · Cited by 459 · see citing works
Orlin, M. N., & McPoil, T. G. (2000) · Physical Therapy · doi:10.1093/ptj/80.4.399 · Cited by 451 · see citing works
Reliability of COP-based postural sway measures and age-related differences
Lin, D., Seol, H., Nussbaum, M. A., & Madigan, M. L. (2008) · Gait & Posture · doi:10.1016/j.gaitpost.2008.01.005 · Cited by 417 · see citing works
Measurement and reduction of noise in kinematics of locomotion
Winter, D. A., Sidwall, H. G., & Hobson, D. (1974) · Journal of Biomechanics · doi:10.1016/0021-9290(74)90056-6 · Cited by 407 · see citing works
Prince, F., Corriveau, H., Hébert, R., & Winter, D. A. (1997) · Gait & Posture · doi:10.1016/s0966-6362(97)01118-1 · Cited by 405 · see citing works
Comparison of three methods to estimate the center of mass during balance assessment
Lafond, D., Duarte, M., & Prince, F. (2003) · Journal of Biomechanics · doi:10.1016/s0021-9290(03)00251-3 · Cited by 299 · see citing works
Detection of Gait Instability Using the Center of Mass and Center of Pressure Inclination Angles
Lee, H.-J., & Chou, L. (2006) · Archives of Physical Medicine and Rehabilitation · doi:10.1016/j.apmr.2005.11.033 · Cited by 252 · see citing works
Age-related reduction in sagittal plane center of mass motion during obstacle crossing
Hahn, M. E., & Chou, L. (2004) · Journal of Biomechanics · doi:10.1016/j.jbiomech.2003.11.010 · Cited by 248 · see citing works
Fatalities and Injuries From Falls Among Older Adults—United States, 1993-2003 and 2001-2005
(2007) · JAMA · doi:10.1001/jama.297.1.32 · Cited by 244 · see citing works
Online Detection of Freezing of Gait with Smartphones and Machine Learning Techniques
Mazilu, S., Hardegger, M., Zhu, Z., Roggen, D., Troester, G., Plotnik, M., & Hausdorff, J. (2012) · Proceedings of the 6th International Conference on Pervasive Computing Technologies for Healthcare · doi:10.4108/icst.pervasivehealth.2012.248680 · Cited by 231 · see citing works
Predicting lower limb joint kinematics using wearable motion sensors
Findlow, A. H., Goulermas, J. Y., Nester, C., Howard, D., & Kenney, L. P. J. (2008) · Gait & Posture · doi:10.1016/j.gaitpost.2007.11.001 · Cited by 161 · see citing works
Hsue, B.-J., Miller, F., & Su, F. (2008) · Gait & Posture · doi:10.1016/j.gaitpost.2008.11.007 · Cited by 156 · see citing works
Applications of artificial neural nets in clinical biomechanics
Schöllhorn, W. I. (2004) · Clinical Biomechanics · doi:10.1016/j.clinbiomech.2004.04.005 · Cited by 153 · see citing works
Dynamic muscle force predictions from EMG: an artificial neural network approach
Liu, M. M., Herzog, W., & Savelberg, H. H. C. M. (1999) · Journal of Electromyography and Kinesiology · doi:10.1016/s1050-6411(99)00014-0 · Cited by 151 · see citing works
Corriveau, H., Hébert, R., Prince, F., & Raı̂che, M. (2001) · Archives of Physical Medicine and Rehabilitation · doi:10.1053/apmr.2001.18678 · Cited by 149 · see citing works
Dynamic Stability in Elders: Momentum Control in Locomotor ADL
Kaya, B. K., Krebs, D. E., & Riley, P. O. (1998) · The Journals of Gerontology Series A · doi:10.1093/gerona/53a.2.m126 · Cited by 126 · see citing works
IMU: Inertial sensing of vertical CoM movement
Esser, P., Dawes, H., Collett, J., & Howells, K. (2009) · Journal of Biomechanics · doi:10.1016/j.jbiomech.2009.03.049 · Cited by 110 · see citing works
Effects of walking speed on asymmetry and bilateral coordination of gait
Plotnik, M., Bartsch, R. P., Zeev, A., Giladi, N., & Hausdorff, J. M. (2013) · Gait & Posture · doi:10.1016/j.gaitpost.2013.04.011 · Cited by 106 · see citing works
Hu, B., Dixon, P. C., Jacobs, J. V., Dennerlein, J. T., & Schiffman, J. M. (2018) · Journal of Biomechanics · doi:10.1016/j.jbiomech.2018.01.005 · Cited by 99 · see citing works
Ngoh, K. J.-H., Gouwanda, D., Gopalai, A. A., & Chong, Y. Z. (2018) · Journal of Biomechanics · doi:10.1016/j.jbiomech.2018.06.006 · Cited by 91 · see citing works
Preludes to brain failure: executive dysfunction and gait disturbances
Montero‐Odasso, M., & Hachinski, V. (2013) · Neurological Sciences · doi:10.1007/s10072-013-1613-4 · Cited by 77 · see citing works
Ground reaction forces predicted by using artificial neural network during asymmetric movements
Choi, A., Lee, J., & Mun, J. H. (2013) · International Journal of Precision Engineering and Manufacturing · doi:10.1007/s12541-013-0064-4 · Cited by 76 · see citing works
Self-citationLower extremity joint torque predicted by using artificial neural network during vertical jump
Liu, Y., Shih, S.-M., Tian, S., Zhong, Y., & Li, L. (2009) · Journal of Biomechanics · doi:10.1016/j.jbiomech.2009.01.033 · Cited by 69 · see citing works
From deep learning to transfer learning for the prediction of skeletal muscle forces
Dao, T. T. (2018) · Medical & Biological Engineering & Computing · doi:10.1007/s11517-018-1940-y · Cited by 68 · see citing works
Byun, S., Han, J. W., Kim, T. H., & Kim, K. W. (2016) · PLoS ONE · doi:10.1371/journal.pone.0158956 · Cited by 63 · see citing works
Choi, A., Joo, S., Oh, E., & Mun, J. H. (2014) · BioMedical Engineering OnLine · doi:10.1186/1475-925x-13-20 · Cited by 60 · see citing works
Self-citationChanges in gait and posture as factors of dynamic stability during walking in pregnancy
Krkeljaš, Ž. (2017) · Human Movement Science · doi:10.1016/j.humov.2017.12.011 · Cited by 57 · see citing works
Yang, W., Hsu, W., Wu, R., Lu, T., & Lin, K.-H. (2015) · Gait & Posture · doi:10.1016/j.gaitpost.2015.10.023 · Cited by 55 · see citing works
Galna, B., Murphy, A., & Morris, M. E. (2013) · Gait & Posture · doi:10.1016/j.gaitpost.2013.03.024 · Cited by 54 · see citing works
Factors contributing to falls in elderly men living in the community
Honeycutt, P. H., & Ramsey, P. (2002) · Geriatric Nursing · doi:10.1067/mgn.2002.128785 · Cited by 53 · see citing works
Benson, L. C., Clermont, C. A., Osis, S. T., Kobsar, D., & Ferber, R. (2018) · Journal of Biomechanics · doi:10.1016/j.jbiomech.2018.01.034 · Cited by 50 · see citing works
Arjmand, N., Ekrami, O., Shirazi-Adl, A., Plamondon, A., & Parnianpour, M. (2013) · Journal of Biomechanics · doi:10.1016/j.jbiomech.2013.02.026 · Cited by 46 · see citing works
Hong, S.-W., Leu, T.-H., Wang, T., Li, J., Ho, W., & Lu, T. (2015) · Gait & Posture · doi:10.1016/j.gaitpost.2015.08.007 · Cited by 41 · see citing works
Machine Learning-Based Pre-Impact Fall Detection Model to Discriminate Various Types of Fall
Kim, T. H., Choi, A., Heo, H. M., Kim, K.-R., Lee, K., & Mun, J. H. (2019) · Journal of Biomechanical Engineering · doi:10.1115/1.4043449 · Cited by 34 · see citing works
Self-citationPaul, J. C., Patel, A., Bianco, K., Godwin, E. M., Naziri, Q., Maier, S. P., Lafage, V., Paulino, C. B., & Errico, T. J. (2014) · Gait & Posture · doi:10.1016/j.gaitpost.2014.06.006 · Cited by 31 · see citing works
A machine learning approach to estimate Minimum Toe Clearance using Inertial Measurement Units
Santhiranayagam, B. K., Lai, D. T. H., Sparrow, W. A., & Begg, R. K. (2015) · Journal of Biomechanics · doi:10.1016/j.jbiomech.2015.10.040 · Cited by 29 · see citing works
Feng, J., Pierce, R. A., Patrick, K., & Aiona, M. D. (2013) · Gait & Posture · doi:10.1016/j.gaitpost.2013.09.009 · Cited by 29 · see citing works
Choi, A., Sim, T., & Mun, J. H. (2015) · Journal of Sports Sciences · doi:10.1080/02640414.2015.1076572 · Cited by 28 · see citing works
Self-citationBiomechanical Evaluation of Dynamic Balance Control Ability During Golf Swing
Choi, A., Kang, T. G., & Mun, J. H. (2016) · Journal of Medical and Biological Engineering · doi:10.1007/s40846-016-0141-0 · Cited by 23 · see citing works
Self-citationChoi, A., Yun, T. S., Suh, S. W., Yang, J. H., Park, H.-J., Lee, S., Roh, M. S., Kang, T. G., & Mun, J. H. (2013) · International Journal of Precision Engineering and Manufacturing · doi:10.1007/s12541-013-0106-y · Cited by 21 · see citing works
Self-citationPredicting net joint moments during a weightlifting exercise with a neural network model
Kipp, K., Giordanelli, M. D., & GEISER, C. F. (2018) · Journal of Biomechanics · doi:10.1016/j.jbiomech.2018.04.021 · Cited by 16 · see citing works
Flagged first, then by citations
Research works printed but not linked: 1
- [35]Winter D.A. Biomechanics and Motor Control of Human Movement 2nd ed. John Wiley &Sons Hoboken, NJ, USA 1990
Cited by
Sorted by citations
Review of Wearable Devices and Data Collection Considerations for Connected Health
Vijayan, V., Connolly, J. P., Condell, J., McKelvey, N., & Gardiner, P. (2021) · Sensors · doi:10.3390/s21165589 · Cited by 435 · see citing works
Lower-Limb Joint Torque Prediction Using LSTM Neural Networks and Transfer Learning
Zhang, L., Soselia, D., Wang, R., & Gutierrez-Farewik, E. M. (2022) · IEEE Transactions on Neural Systems and Rehabilitation Engineering · doi:10.1109/tnsre.2022.3156786 · Cited by 108 · see citing works
Alcantara, R. S., Edwards, W. B., Millet, G. Y., & Grabowski, A. M. (2022) · PeerJ · doi:10.7717/peerj.12752 · Cited by 75 · see citing works
Renani, M. S., Eustace, A., Myers, C. A., & Clary, C. W. (2021) · Sensors · doi:10.3390/s21175876 · Cited by 63 · see citing works
Mun, F., & Choi, A. (2022) · Journal of NeuroEngineering and Rehabilitation · doi:10.1186/s12984-022-00987-8 · Cited by 56 · see citing works
Self-citationIMU Data and GPS Position Information Direct Fusion Based on LSTM
Guang, X., Gao, Y., Liu, P., & Li, G. (2021) · Sensors · doi:10.3390/s21072500 · Cited by 45 · see citing works
Choi, A., Jung, H., Lee, K., Lee, S., & Mun, J. H. (2019) · Medical & Biological Engineering & Computing · doi:10.1007/s11517-019-02056-0 · Cited by 36 · see citing works
Self-citationGermanotta, M., Mileti, I., Conforti, I., Prete, Z. D., Aprile, I. G., & Palermo, E. (2021) · Sensors · doi:10.3390/s21020601 · Cited by 34 · see citing works
Towards Improved Inertial Navigation by Reducing Errors Using Deep Learning Methodology
Chen, H., Taha, T. M., & Chodavarapu, V. P. (2022) · Applied Sciences · doi:10.3390/app12073645 · Cited by 33 · see citing works
Sensors and algorithms for locomotion intention detection of lower limb exoskeletons
Wang, D., Gu, X., & Yu, H. (2023) · Medical Engineering & Physics · doi:10.1016/j.medengphy.2023.103960 · Cited by 29 · see citing works
Kim, T. H., Choi, A., Heo, H. M., Kim, H., & Mun, J. H. (2020) · Sensors · doi:10.3390/s20216126 · Cited by 21 · see citing works
Self-citationMoon, J., Lee, D., Jung, H., Choi, A., & Mun, J. H. (2022) · Sensors · doi:10.3390/s22093499 · Cited by 17 · see citing works
Self-citationWu, C.-C., Chen, Y.-J., Hsu, C.-S., Wen, Y.-T., & Lee, Y. (2020) · Frontiers in Bioengineering and Biotechnology · doi:10.3389/fbioe.2020.566474 · Cited by 17 · see citing works
Museck, I. J., Brinton, D. L., & Dean, J. C. (2024) · Sensors · doi:10.3390/s24227280 · Cited by 15 · see citing works
Yu, C.-H., Yeh, C.-C., Lu, Y.-F., Lu, Y.-L., Wang, T., Lin, F. Y., & Lu, T. (2023) · Sensors · doi:10.3390/s23229040 · Cited by 15 · see citing works
Enhancing accuracy and convenience of golf swing tracking with a wrist-worn single inertial sensor
Kim, M., & Park, S. (2024) · Scientific Reports · doi:10.1038/s41598-024-59949-w · Cited by 14 · see citing works
Udhayakumar, K., Shanmugasundaram, S., Kashkynbayev, A., & Rakkiyappan, R. (2023) · ISA Transactions · doi:10.1016/j.isatra.2023.07.022 · Cited by 14 · see citing works
Butt, A. M., Alsaffar, H., Alshareef, M. J., & Qureshi, K. K. (2022) · Sensors · doi:10.3390/s22083085 · Cited by 14 · see citing works
Portaz, M., Corbí, A., Casas-Ortiz, A., & Santos, O. C. (2024) · User Modeling and User-Adapted Interaction · doi:10.1007/s11257-024-09393-2 · Cited by 14 · see citing works
Bach, M. M., Dominici, N., & Daffertshofer, A. (2022) · Frontiers in Sports and Active Living · doi:10.3389/fspor.2022.1037438 · Cited by 14 · see citing works
Chae, S., Choi, A., Jung, H., Kim, T. H., Kim, K.-R., & Mun, J. H. (2021) · Applied Sciences · doi:10.3390/app112411735 · Cited by 12 · see citing works
Self-citationPrediction of Tool Forces in Manual Grinding Using Consumer-Grade Sensors and Machine Learning
Dörr, M., Ott, L., Matthiesen, S., & Gwosch, T. (2021) · Sensors · doi:10.3390/s21217147 · Cited by 10 · see citing works
Chebel, E., & Tunç, B. (2021) · Journal of Biomechanics · doi:10.1016/j.jbiomech.2021.110648 · Cited by 9 · see citing works
Real-Time Sensor-Embedded Neural Network for Human Activity Recognition
Shakerian, A., Douet, V., Nejati, A. S., & Landry, R. J. (2023) · Sensors · doi:10.3390/s23198127 · Cited by 8 · see citing works
A Phase-Difference Method for Measuring Torque and Rotational Speed of Shafts Based on CNN-LSTM
Xia, K., Wang, X., Fan, H., Wang, J., & Yu, Y. (2025) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2025.3548776 · Cited by 5 · see citing works
Automatic Body Segment and Side Recognition of an Inertial Measurement Unit Sensor during Gait
Baniasad, M. A., Martin, R., Crevoisier, X. M., Pichonnaz, C., Becce, F., & Aminian, K. (2023) · Sensors · doi:10.3390/s23073587 · Cited by 7 · see citing works
Yuhai, O., Cho, Y., & Mun, J. H. (2025) · Biosensors · doi:10.3390/bios15090618 · Cited by 3 · see citing works
Self-citationEvaluation of center of mass estimation for obese using statically equivalent serial chain
Chebel, E., & Tunç, B. (2022) · Scientific Reports · doi:10.1038/s41598-022-26763-1 · Cited by 3 · see citing works
Shahid, M., Bisio, I., Garibotto, C., Lavagetto, F., Hamedani, M., Schenone, A. E., & Sciarrone, A. (2024) · IEEE Internet of Things Journal · doi:10.1109/jiot.2024.3520675 · Cited by 2 · see citing works
Effectiveness of an Intelligent Foot Orthosis in Lateral Fall Prevention
Yamamoto, R., Itami, S., Kawabata, M., & SHIRAISHI, T. (2022) · Journal of Engineering and Science in Medical Diagnostics and Therapy · doi:10.1115/1.4055040 · Cited by 1 · see citing works
Fuzzy Torque Estimation During Knee Extension with LSTM Neural Network and sEMG Signals
García-Torres, J. A., & Zavala, A. H. (2024) · Algorithms for intelligent systems · doi:10.1007/978-981-97-3526-6_43 · Cited by 1 · see citing works
Fohrmann, D., Mundt, M., David, S., Koeppe, A., Markert, B. A., & Potthast, W. (2020) · ISBS Proceedings Archive · Cited by 1 · see citing works
The development of running in children
Bach, M. M. (2023) · doi:10.5463/thesis.147 · Cited by 1 · see citing works
Vijayan, V., Connolly, J., Condell, J. V., McKelvey, N., & Gardiner, P. V. (2024) · IEEE Sensors Journal · doi:10.1109/jsen.2024.3509021
Laudanski, A. F., Küderle, A., Kluge, F., Eskofier, B. M., & Acker, S. M. (2025) · Sensors · doi:10.3390/s25041083
Combining Fast Orthogonal Search with Deep Learning to Improve Low-Cost IMU Signal Accuracy
Guan, J., Mounier, E., Iqbal, U., & Korenberg, M. J. (2026) · Sensors · doi:10.3390/s26082300
Lu, H., Yu, C.-H., & Lu, T. (2026) · Journal of Applied Physiology · doi:10.1152/japplphysiol.00258.2025
Khor, Y. Y. W., Su, E. L. M., Abdul-Kadir, N. A., bin Abdullah, M. N., Balasubramanian, S., & Mandala, S. (2026) · Sport Sciences for Health · doi:10.1007/s11332-026-01933-0
- Authors
- Choi, A., Jung, H., & Mun, J. H.
- Affiliations
- Sungkyunkwan University (KR)
- Corresponding author
- Mun, Joung Hwan
- Venue
- Sensors
- Publisher
- MDPI AG
- Published
- 2019-07-05
- Volume
- 19
- Issue
- 13
- Pages
- 2974
- ISSN
- 1424-8220 (ISSN-L)
- PMC
- PMC6651410
- OpenAlex
- W2954276739
- Cited by
- 40
- References
- 43
- Citations by year
- 2026: 3 · 2025: 3 · 2024: 6 · 2023: 6 · 2022: 11 · 2021: 7 · 2020: 3 · 2019: 1
- FWCI
- 12.67
- Type
- journal article
- Language
- en
- Open access
- gold
- dx.doi.org
- Licence
- Locations
- Sensors (publishedVersion, cc-by)
- PubMed Central (publishedVersion, cc-by)
- PubMed (publishedVersion)
- DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion, cc-by-sa)
- Funders
- National Research Foundation of Korea (2017R1D1A3B03033675)
- Topics
- Health Sciences › Health Professions › Physical Therapy, Sports Therapy and Rehabilitation › Balance, Gait, and Falls Prevention
- Physical Sciences › Engineering › Biomedical Engineering › Gait Recognition and Analysis
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Context-Aware Activity Recognition Systems
- Keywords
- gait stability, postural control, inertial measurement unit, wearable sensors, long short-term memory networks, feedforward neural networks, fall risk, walking
- MeSH terms
- Adult, Algorithms, Postural Balance, Equipment Design, Gait, Humans, Male, Monitoring, Physiologic, Signal Processing, Computer-Assisted, Walking, Neural Networks, Computer, Accelerometry, Healthy Volunteers
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review