Koike and Kawato [60] (1995) | sEMG (2 kHz, 10) | (elbow): S (shoulder): F | ISO, OC | TS | NN (FB, dyn) | CD: 0.89 |
Suryanarayanan et al. [44] (1996) | sEMG (2 kHz, 1) | (elbow): S | OC | TS | NN (dyn) | RMSE 15% |
Shih and Patterson [67] (1997) | sEMG (900 Hz, 4) | (elbow): S (wrist): S (shoulder): S (elbow): S (wrist): S (shoulder): S | WCP | TS | NN | RMSE: 0.67–5.76 Nm, 0.64–5.62 Nm RMSE: 4.78–13.76°, 4.73–14.33° |
van Dieën and Visser [68] (1999) | sEMG (600 Hz, 6) | (lumbo-sacral): S | ISO, LOC | TS | (dyn) | RMSE: 26–54 Nm, 49–160 Nm |
Au and Kirsch [69] (2000) | sEMG (500 Hz, 6) | (shoulder): S, F, T (elbow): S (shoulder): S, F, T (elbow): S (shoulder): S, F, T (elbow): S | OC, LOC | TS | NN (dyn) | RMSE: 14.2–19.6° RMSE: 8–17.2° (impaired subjects) |
Dipietro et al. [70] (2003) | sEMG (1 kHz, 5) | (hand): T | OC | TS | NN (FB) | RMSE: 7.3–11.5% |
Song and Tong [46] (2005) | sEMG (1 kHz, 3) goni (1 kHz, 2) | (elbow): S | LOC | TS | NN (FB) | nRMSE: 4.53–8.45% nRMSE: 10.56–16.20% (sEMG only) |
Clancy et al. [35] (2006) | sEMG (4096 Hz, 8) | (elbow): S | ISO | TS | (dyn) | MAE: 7.3% |
Došen and Popovič [71] (2008) | 2D ACC (200 Hz, 4) | (ankle): S (knee): S (hip): S (hip joint center): S | MSW | TS | NN (dyn) | RMSE: 1.19–3.60°, 1.18–2.62° RMSE: 0.26–0.39 m/s2, 0.29–0.46 m/s2 CC (): 0.97–0.998, 0.97–0.998 CC (): 0.96–0.99, 0.91–0.99 |
Findlow et al. [63] (2008) | IMU (100 Hz, 4) | (ankle): S (knee): S (hip): S | Normal Walk | TS | NP (KS) | MAE: 1.69–2.30°, 4.91–9.06° MAE: 1.78–5.32° (reduced sensor array) CC: 0.93–0.99, 0.70–0.89 CC: 0.87–0.99 (reduced sensor array) |
Goulermas et al. [64] (2008) | IMU (--, 4) | (ankle): S (knee): S (hip): S | MSW | TS | NP (KS) | CC: 0.97, 0.96, 0.83 |
Hahn and O’Keefe [72] (2008) | sEMG (1 kHz, 7) | (ankle): S (knee): S (hip): S | Normal Walk | TS | NN | CD: 0.54–0.84 (sEMG only) CD: 0.77–0.92 (sEMG with demographics & anthropometrics) |
Mijovic et al. [59] (2008) | 2D ACC (50 Hz, 2) | (forearm): S | OC | TS | NN (RBF) | CD: 0.841–0.998, 0.75–0.99, 0.03–0.88 |
Delis et al. [73] (2009) | sEMG (1744.25 Hz, 2) | (knee): S | Normal Walk | DISC (TD) | NN (SOM) | CC: 0.59–0.84 |
Jiang et al. [74] (2009) | sEMG (1 kHz, 8) | CF (hand) | ISO | DISC (TD) | (1) NN (2) | (1) CD: 0.86 (2) CD: 0.78 |
Youn and Kim [47] (2010) | sEMG (1 kHz, 2) MMG (1 kHz, 2) | CF (hand) | ISO | DISC (TD) | NN | nRMSE 16% (MMG only) nRMSE 13% (sEMG only) nRMSE 10% (sEMG + MMG) |
Ziai and Menon [57] (2011) | sEMG (1 kHz, 8) | (wrist): S | ISO | TS | (1) (2) (lasso) (3) (LWPR) (4) NP (SVR) (5) NN (2L) | (1) nRMSE: 2.88% (2) nRMSE: 2.83% (3) nRMSE: 3.03% (4) nRMSE: 2.85% (5) nRMSE: 2.82% |
Nielsen et al. [75] (2011) | sEMG (1024 Hz, 7) | CF (hand) | ISO | DISC (TD) | NN | RMSE: 0.16 N RMSE: 0.10 N (impaired subjects) CD: 0.93 CD: 0.82 (impaired subjects) |
de Vries et al. [76] (2012) | MIMU (50 Hz, 4) sEMG (1 kHz, 13) | ISF (SC): S, F, T ISF (AC): S, F, T ISF (shoulder): S, F, T ISF (elbow): S, F, T | LOC, ADL | TS | NN | nRMSE: 7–17% |
Jiang et al. [77] (2012) | sEMG (2048 Hz, 7) | (wrist): S, F, T | OC | DISC (TD) | NN | CD: 0.74–0.78 |
Muceli and Farina [78] (2012) | HD-sEMG 128 (2048 Hz, 2) | (wrist): S, F, T | OC | TS | NN | CD: 0.79–0.89 |
Clancy et al. [45] (2012) | sEMG (4096 Hz, 2) | (elbow): S | ISO | TS | , , , (dyn) | nMAE: 4.65–6.38% nMAE: 5.55–7.97% (reduced training set) |
Howell et al. [49] (2013) | FSR (118 Hz, 12) | (ankle): S (knee): S, F | Normal Walk | TS | | nRMSE: 5.9–17.1% CC: 0.82–0.97 |
Kamavuako et al. [79] (2013) | sEMG (10 kHz, 6) | (wrist): S, T | ISO | DISC (TD) | NN | nRMSE: 6.1–13.5% CD: 0.87–0.91 |
Jiang et al. [80] (2013) | sEMG (2048 Hz, 7) | (wrist): S, F, T | OC | DISC (TD) | NN | CD: 0.63–0.86, 0.34–0.74 CD: 0.61–0.77, 0.46–0.59 (impaired subjects) |
Farmer et al. [54] (2014) | sEMG (1 kHz, 4) | (ankle): S | Normal Walk | TS | NN (FB, dyn) | RMSE: 1.2–5.4° |
Ngeo et al. [62] (2014) | sEMG (2 kHz, 8) | (MCPs): S | OC | TS DISC (TD) | (1) NN (dyn) (2) NP (GPR, dyn) | (1) CC: 0.71 (TS inputs only) (2) CC: 0.84 (TS inputs only) |
Hahne et al. [58] (2014) | HD-sEMG 192 (2048 Hz, 1) | (wrist): S, F | OC | DISC (TD) | (1) (ridge) (2) (3) NN (4) NP (KRR) | (4) CD: 0.8 (reduced sensor array) CD: 0.8–0.9 (range across all models) |
Jacobs and Ferris [50] (2015) | FSR (1 kHz, 8) Load Cell (1 kHz, 1) | (ankle): S | MSW, Calf Raises | TS | NN | nRMSE: 7.04–13.78% nRMSE: 8.72–16.52% (FSR only) nRMSE: 20.47–46.02% (Load Cell only) |
de Vries et al. [81] (2016) | MIMU (50 Hz, 4) sEMG (1 kHz, 13) | ISF (shoulder): S, F, T | LOC, ADL | TS | NN | nSEM: 4–1% nSEM: 3–21% (reduced sensor array) |
Wouda et al. [65] (2016) | MIMU (240 Hz, 5) | (ankle): S, F, T (knee): S, F, T (hip): S, F, T (shoulder): S, F, T (elbow): S, F, T (wrist): S, F, T (spine): S, F, T | OC, ADL, MSW, MSR, sport | TS | (1) NN (2) NP (k-NN) | (1) Mean Error: 7° (2) Mean Error: 8° |
Michieletto et al. [56] (2016) | sEMG (1 kHz, 8) | (knee): S | Seated Kick | TS | (GMR) | Custom error statistic (see paper) |
Xiloyannis et al. [48] (2017) | sEMG (--, 5) MMG (--, 5) | (MCPs): S | OC, ADL, ISO | TS | (FB) (2) NP (GPR, FB) | (1) CC: 0.54 (2) CC: 0.79, 0.62, 0.67 (sEMG only) |
Zhang et al. [82] (2017) | sEMG (1 kHz, 8) | (shoulder): S, F, T (elbow): S | OC | DISC (TD) | NN | CD: 0.90–0.91, 0.86–0.87 |
Ding et al. [83] (2017) | sEMG (2 kHz, 8) | (elbow): S (humerus): S, F, T | OC, ADL | TS | (1) NN (2) NN (FB) (3) NN (FB, UKF) | (1) RMSE: 11–14°, CC: 0.88–0.90 (2) RMSE: 11–15°, CC: 0.87–0.89 (3) RMSE: 7–9°, CC: 0.95–0.96 |
Clancy et al. [84] (2017) | sEMG (2048 Hz, 16) | CF (hand): S, F (wrist): T | ISO | TS | | RMSE: 6.7–10.6%, 11.0–15.7 (4 sensors) |
Xia et al. [52] (2018) | sEMG (2 kHz, 5) | (hand): S, F, T | OC | DISC (FD) DISC (TD) | 1) NN (CNN) 2) NN (C-LSTM, FB) | (1) CD: 0.78 (2) CD: 0.90 |
Wouda et al. [85] (2018) | MIMU (240 Hz, 3) | (knee): S | MSR | TS | NN | RMSE: 2.27–8.41°, 6.29–25.05° CC: 0.98–0.99, 0.77–0.99 |
Sun et al. [66] (2018) | sEMG (16 kHz, 1) | CF (forearm) | ISO | DISC (MUAP-TD) | | CD: 0.72–0.89 |
Chen et al. [86] (2018) | sEMG (1.2 kHz, 10) | (ankle): S (knee): S (hip): S | MSW | TS | NN (DBN) | RMSE: 2.45–3.96° CC: 0.95–0.97 |
Xu et al. [53] (2018) | HD-sEMG 128 (1 kHz, 1) | CF (forearm) | ISO | TS | (1) NN (CNN) (2) NN (LSTM, FB) (3) NN (C-LSTM, FB) | (1) nRMSE: 7.33–10.93% (2) nRMSE: 6.16–9.33% (3) nRMSE: 5.95–9.74% |
Wang et al. [51] (2019) | sEMG (1.6 kHz, 5) | (knee): S | LOC | DISC (FD) | NN (FB) | nRMSE: 3.55–5.13% |
Dai and Hu [87] (2019) | HD-sEMG 160 (2048 Hz, 1) | (MCPs): S | OC | TS, DISC (MUAP-FD) | | CD: 0.66–0.81 (TS inputs) CD: 0.69–0.86 (MUAP-FD inputs) |
Dai et al. [88] (2019) | sEMG (2048 Hz, 16) | CF (hand): S, F (wrist): T | ISO | TS | (dyn) | RMSE: 7.3–9.2%, 11.5–13.0% (4 sensors) |
Kapelner et al. [89] (2019) | HD-sEMG 192 (2048 Hz, 3) | (wrist): S, F, T | OC | DISC (TD, MUAP-TD) | | CD: 0.77 (MUAP-TD inputs) CD: 0.70 (TD inputs) |
Stetter et al. [37] (2019) | IMU (1.5 kHz, 2) | ISF (knee): S, F, T | MSW, MSR, sport | TS | NN (2L) | nRMSE: 14.2–45.9% CC: 0.25–0.94 |