Quantitative estimation of human joint motion in daily living spaces is essential for early detection and rehabilitation tracking of neuromusculoskeletal disorders (e.g., Parkinson's) and mitigating trip and fall risks for older adults. Existing approaches involve monitoring devices such as cameras, wearables, and pressure mats, but have operational constraints such as direct line-of-sight, carrying devices, and dense deployment. To overcome these limitations, we leverage gait-induced floor vibration to estimate lower-limb joint motion (e.g., ankle, knee, and hip flexion angles), allowing non-intrusive and contactless gait health monitoring in people's living spaces. To overcome the high uncertainty in lower-limb movement given the limited information provided by the gait-induced floor vibrations, we formulate a physics-informed graph to integrate domain knowledge of gait biomechanics and structural dynamics into the model. Specifically, different types of nodes represent heterogeneous information from joint motions and floor vibrations; Their connecting edges represent the physiological relationships between joints and forces governed by gait biomechanics, as well as the relationships between forces and floor responses governed by the structural dynamics. As a result, our model poses physical constraints to reduce uncertainty while allowing information sharing between the body and the floor to make more accurate predictions. We evaluate our approach with 20 participants through a real-world walking experiment. We achieved an average of 3.7 degrees of mean absolute error in estimating 12 joint flexion angles (38% error reduction from baseline), which is comparable to the performance of cameras and wearables in current medical practices.

Vibration signals have been increasingly utilized in various engineering fields for analysis and monitoring purposes, including structural health monitoring, fault diagnosis and damage detection, where vibration signals can provide valuable information about the condition and integrity of structures. In recent years, there has been a growing trend towards the use of vibration signals in the field of bioengineering. Activity-induced structural vibrations, particularly footstep-induced signals, are useful for analyzing the movement of biological systems such as the human body and animals, providing valuable information regarding an individual's gait, body mass, and posture, making them an attractive tool for health monitoring, security, and human-computer interaction. However, the presence of various types of noise can compromise the accuracy of footstep-induced signal analysis. In this paper, we propose a novel ensemble model that leverages both the ensemble of multiple signals and of recurrent and convolutional neural network predictions. The proposed model consists of three stages: preprocessing, hybrid modeling, and ensemble. In the preprocessing stage, features are extracted using the Fast Fourier Transform and wavelet transform to capture the underlying physics-governed dynamics of the system and extract spatial and temporal features. In the hybrid modeling stage, a bi-directional LSTM is used to denoise the noisy signal concatenated with FFT results, and a CNN is used to obtain a condensed feature representation of the signal. In the ensemble stage, three layers of a fully-connected neural network are used to produce the final denoised signal. The proposed model addresses the challenges associated with structural vibration signals, which outperforms the prevailing algorithms for a wide range of noise levels, evaluated using PSNR, SNR, and WMAPE.