Fig. 3

Diagram illustrating our machine learning approach using an artificial neural network (ANN). The ANN (center) maps from a sparse set of virtual inertial measurement units (IMUs, left) signals to segmental contributions to whole-body angular momentum (H) in three dimensions (right). Magnitude and direction of each segment’s contribution to H are shown as a vectors, as well as total H about the center-of-mass (black vector)