In ubiquitous healthcare systems, energy expenditure estimation based on wearable sensors such as inertial measurement units (IMUs) is important for monitoring the intensity of physical activity. Although several studies have reported data-driven methods to estimate energy expenditure during activities of daily living using wearable sensor signals, few have evaluated the performance while walking at various speeds and inclines. In this study, we present a hybrid model comprising a convolutional neural network (CNN) and long short-term memory (LSTM) to estimate the steady-state energy expenditure under various walking conditions based solely on IMU data. To implement and evaluate the model, we performed level/inclined walking and level running experiments on a treadmill. With regard to the model inputs, the performance of the proposed model based on fixed-size sequential data was compared with that of a method based on stride-segmented data under different conditions in terms of the sensor location, input sequence format, and neural network model. Based on the experimental results, the following conclusions were drawn: (i) the CNN-LSTM model using a two-second sequence from the IMU attached to the lower body yielded optimal performance, and (ii) although the stride-segmented data-based method showed superior performance, the performance difference between the two methods was not significant; therefore, the proposed model based on fixed-size sequential data may be considered more practical as it does not require heel-strike detection.
Keywords: convolutional neural network; energy expenditure estimation; inertial measurement unit; long short-term memory; walking and running.