Ankle torque forecasting using time-delayed neural networks

A method for ankle torque prediction ahead of the current time is proposed in this paper. The mean average value of EMG signals from four muscles, alongside the joint angle and angular velocity of the right ankle, were used as input parameters to train a time-delayed artificial neural network. Data collected from five healthy subjects were used to generate the dataset to train and test the model. The model predicted ankle torque for five different future times from zero to 2 seconds. Model predictions were compared to torque calculated from inverse dynamics for each subject. The model predicted ankle torque up to 1 second ahead of time with normalized root mean squared error of less than 15 percent while the coefficient of determination was over 0.85.Clinical Relevance- the potential of the model for predicting joint torque ahead of time is helpful to establish an intuitive interaction between human and assistive robots. This model has application to assist patients with neurological disorders.