{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,24]],"date-time":"2026-08-24T15:36:37Z","timestamp":1787585797735,"version":"build-2736575974"},"reference-count":0,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2026,8,24]],"date-time":"2026-08-24T00:00:00Z","timestamp":1787529600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Ministry of Science and Higher Education of the Republic of Kazakhstan","award":["BR24992820"],"award-info":[{"award-number":["BR24992820"]}]},{"award":["BR24992820"],"award-info":[{"award-number":["BR24992820"]}],"id":[{"id":"https:\/\/ror.org\/05tyne317","id-type":"ROR","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Bioengineering"],"abstract":"<jats:p>This study presents a Time Delay Neural Network (TDNN) framework for predicting sagittal-plane ankle angle from proximal lower-limb kinematics and surface electromyography (sEMG), with the long-term objective of supporting active ankle prosthesis control. Two TDNN configurations were evaluated: a kinematics-based model (TDNN-Kin) using hip and knee kinematics together with gait-phase information, and an extended model (TDNN-Kin-EMG) incorporating three additional sEMG channels. The models were evaluated using independently held-out treadmill-walking trials from nine able-bodied participants obtained from a publicly available biomechanics dataset. The TDNN-Kin model achieved a mean RMSE of 3.52 \u00b1 0.55\u00b0 with a mean Pearson correlation coefficient of 0.9338. Incorporating sEMG reduced the mean RMSE to 3.04 \u00b1 0.44\u00b0, corresponding to a 13.8% improvement, while the mean correlation coefficient increased to 0.9419. RMSE improved in eight of the nine participants, indicating that muscle-activation information provides complementary information beyond proximal-joint kinematics alone. These findings demonstrate the feasibility of accurate offline ankle-angle prediction using wearable kinematic and physiological signals and provide a foundation for the future integration of data-driven trajectory generation into active ankle prostheses.<\/jats:p>","DOI":"10.3390\/bioengineering13090968","type":"journal-article","created":{"date-parts":[[2026,8,24]],"date-time":"2026-08-24T14:49:34Z","timestamp":1787582974000},"page":"968","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["TDNN-Based Ankle Angle Prediction from Lower-Limb Kinematics and Surface EMG"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5941-3462","authenticated-orcid":false,"given":"Abu-Alim","family":"Ayazbay","sequence":"first","affiliation":[{"name":"Department of Robotics and Technical Means of Automation, Satbayev University, Almaty 050013, Kazakhstan"},{"name":"Department of Aerospace and Electronic Engineering, Almaty University of Power Engineering and Telecommunications, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kassymbek","family":"Ozhikenov","sequence":"additional","affiliation":[{"name":"Department of Robotics and Technical Means of Automation, Satbayev University, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bigaliyeva","family":"Zhanar","sequence":"additional","affiliation":[{"name":"Department of Robotics and Technical Means of Automation, Satbayev University, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0467-1667","authenticated-orcid":false,"given":"Sayat","family":"Akhmejanov","sequence":"additional","affiliation":[{"name":"Department of Robotics and Technical Means of Automation, Satbayev University, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3358-1182","authenticated-orcid":false,"given":"Nursultan","family":"Zhetenbayev","sequence":"additional","affiliation":[{"name":"Department of Aerospace and Electronic Engineering, Almaty University of Power Engineering and Telecommunications, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9712-5592","authenticated-orcid":false,"given":"Yerkebulan","family":"Nurgizat","sequence":"additional","affiliation":[{"name":"Department of Aerospace and Electronic Engineering, Almaty University of Power Engineering and Telecommunications, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7548-2954","authenticated-orcid":false,"given":"Aidos","family":"Sultan","sequence":"additional","affiliation":[{"name":"Department of Aerospace and Electronic Engineering, Almaty University of Power Engineering and Telecommunications, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-6728-0748","authenticated-orcid":false,"given":"Uzbekbayev","family":"Arman","sequence":"additional","affiliation":[{"name":"Department of Aerospace and Electronic Engineering, Almaty University of Power Engineering and Telecommunications, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gani","family":"Sergazin","sequence":"additional","affiliation":[{"name":"Department of Science and Innovations, Mukhametzhan Tynyshbayev ALT University, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,8,24]]},"container-title":["Bioengineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2306-5354\/13\/9\/968\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,8,24]],"date-time":"2026-08-24T15:15:03Z","timestamp":1787584503000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2306-5354\/13\/9\/968"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,8,24]]},"references-count":0,"journal-issue":{"issue":"9","published-online":{"date-parts":[[2026,9]]}},"alternative-id":["bioengineering13090968"],"URL":"https:\/\/doi.org\/10.3390\/bioengineering13090968","relation":{},"ISSN":["2306-5354"],"issn-type":[{"value":"2306-5354","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,8,24]]}}}