Energy expenditure rate in level and uphill treadmill walking determined from empirical models and foot inertial sensing data

An empirical model is used for predicting the energy expenditure rate of treadmill walking from walking speed and incline, which are measured by a foot-mounted inertial sensor. The difference between values of the energy expenditure rate obtained by entering measured and true values of these variables in the model equation is less than the errors that are reported to affect model based assessments of the metabolic response to locomotion in humans.