Table 3 Metrics of \(BM-RMSE\), \(N-RMSE\), and \(R^{2}\) mean values of the net PF moment prediction across all participants by using the proposed sEMG-US imaging-driven HNM

Calibration

0.50 m/s

0.119

0.154

0.221

0.276

0.333

0.75 m/s

0.151

0.121

0.171

0.221

0.284

1.00 m/s

0.216

0.162

0.127

0.176

0.275

1.25 m/s

0.254

0.182

0.159

0.148

0.214

1.50 m/s

0.271

0.226

0.215

0.214

0.155

Inter-speed

0.161

0.126

0.150

0.163

0.217

\(N-RMSE\)

Calibration

0.50 m/s

8.36

9.78

12.72

14.66

16.35

0.75 m/s

10.75

7.75

9.75

11.71

14.04

1.00 m/s

15.29

10.29

7.39

9.39

13.54

1.25 m/s

17.97

11.52

9.01

7.89

10.87

1.50 m/s

19.22

14.33

12.36

11.44

7.71

Inter-speed

11.40

8.01

8.60

8.65

10.84

\(R^{2}\)

Calibration

0.50 m/s

0.909

0.895

0.876

0.854

0.794

0.75 m/s

0.863

0.943

0.930

0.908

0.845

1.00 m/s

0.838

0.933

0.948

0.920

0.855

1.25 m/s

0.809

0.912

0.928

0.940

0.904

1.50 m/s

0.769

0.855

0.877

0.899

0.946

Inter-speed

0.881

0.933

0.943

0.935

0.899