Basic Activity Recognition from Wearable

Sensors Using a Lightweight Deep

Neural Network

Zakaria Benhaili∗ , Youness Abouqora, Youssef Balouki

and Lahcen Moumoun

Hassan First University of Settat, Faculty of Sciences and Techniques, Mathematics,

Computer Science and Engineering Sciences Laboratory (MISI), 26000 Settat,
Morocco
E-mail: z.benhaili@uhp.ac.ma; y.abouqora@uhp.ac.ma;
balouki.youssef@gmail.com; lahcen.moumoun@uhp.ac.ma
∗
Corresponding Author

Received 29 December 2021; Accepted 28 January 2022;

Publication 06 May 2022

Abstract
The field of human activity recognition has undergone a great development,
making its presence felt in various sectors such as healthcare and supervision.
The identification of fundamental behaviours that occur regularly in our
everyday lives can be extremely useful in the development of systems that aid
the elderly, as well as opening the door to the detection of more complicated
activities in a Smart home environment. Recently, the use of deep learning
techniques allowed the extraction of features from sensor’s readings automat-
ically, in a hierarchical way through non-linear transformations. In this study,
we propose a deep learning model that can work with raw data without any
pre-processing. Several human activities can be recognized by our stacked
LSTM network. We demonstrate that our outcomes are comparable to or
better than those obtained by traditional feature engineering approaches.
Furthermore, our model is lightweight and can be applied on edge devices.

Journal of ICT Standardization, Vol. 10 2, 241–260.

doi: 10.13052/jicts2245-800X.1028
© 2022 River Publishers
242 Z. Benhaili et al.

Based on our expertise with two datasets, we obtained an accuracy of 97.15%

on the UCI HAR dataset and 99% on WISDM dataset.

Keywords: Human activity recognition, LSTM, deep learning, sensors.

1 Introduction
Human activity recognition is grounded on the gathering of data from
different sensing devices. We distinguish between two types: vision based
HAR which requires cameras, and sensor based HAR which is based on
sensors like accelerometers, gyroscopes, GPS, and others. These sensors are
embedded in smartphones and other smart objects.
The efforts made in the last years in the electronics industry have allowed
to reduce the size of sensors and to produce others with smaller sizes. This has
motivated the development of several context aware applications in various
fields such as healthcare [1], supervision [2], security [3], and other daily life
applications especially the domain of internet of things [4].
Vision based HAR suffers from problems related to privacy, restrictions
related to mobility and power consumption, and difficulties to obtain good
images in some climatic conditions. These complications directly impact the
accuracy of recognition and push researchers to adopt sensor based HAR
which is more accurate, flexible, and simple.
Sensors take advantage of being ubiquitous. They can now be embedded
into wearable devices like phones, watches, and bracelets, as well as non-
wearable items like automobiles, doors, and furniture, thanks to the growth
of smart gadgets and the Internet of Things. Sensors are broadly present in
our environment, logging people’s motions in a non-intrusive and continual
manner.
Today, everybody has a smart device that contains at least one sensor,
these devices are an excellent tool for collecting data, and monitoring human
activities, and currently there is a shift especially towards smartphones to
realize this recognition.
For a good recognition, traditional Machine Learning algorithms neces-
sitate domain knowledge to pre-process data and to select features. Recent
achievements of deep learning in computer vision, speech recognition, and
natural language processing attracted the researchers to investigate its effec-
tiveness in the recognition of human activities. In fact, Deep learning can
extract features from sensor’s raw data automatically, and thus substituting
 Basic Activity Recognition from Wearable Sensors 243

its manual selection and engineering. This capacity of learning permits to

save time and to design more general models.
The key contributions of this paper:
We propose a deep neural network architecture capable of extracting
features from sensor’s data directly. Our method can recognize a wide range
of basic activities that occur frequently in our daily lives. The optimal
parameters in the model were finally selected after analysing its impact on
performance. We propose also other architectures to compare our model,
namely LSTM-inception, which we adapted for times series, and last we
investigated the impact of Softmax, SVM and CRF classification’s when it
is placed in the last layer. We put our approach to the test on two commonly
used datasets, our model clearly improves prior findings, as evidenced by the
results.
We constructed our article as follows: The second section examines
related works in the field of human activity recognition. In part four, we
provide our HAR model. The experimental setup is presented in section five.
The results are presented and examined in section six. Finally, and last, we
give our conclusion.

2 Related Works
Deep learning models have a greater learning ability, according to cur-
rent reviewed research in HAR. Convolutional neural networks have been
employed as a feature extractor, either alone or in combination with recurrent
neural networks and its variants.
Oluwalade et al. [5], have investigated the difference in data generated
by two types of devices that embed the same type of sensors (a watch and
a phone). They used four models: Long short-term memory (LSTM), Bidi-
rectional Long short-term memory (LSTM), Convolutional Neural Network
(CNN), and Convolutional LSTM (ConvLSTM) to classify fifteen hand and
non-hand-oriented activities. They also used GRU to forecast the last 30
seconds of data generated from the watch accelerometer. They obtained an
average classification accuracy of more than 91%. In [6] The authors used the
signals captured by a gyroscope and an accelerometer, which were processed,
then they extracted more than 561 features in the time and frequency domain,
and they used Kernel Principal component analysis to reduce the number of
dimensions, they proposed deep belief network to recognize 12 activities.
In result they had a better score compared to SVM and ANN approaches.
244 Z. Benhaili et al.

In [7] Agarwal et al. proposed a LSTM-CNN Architecture for Human

Activity Recognition learning model for HAR. The model requires little
computational power, and it was developed by combining a shallow RNN
and LSTM algorithm, it can achieve an accuracy of 95.78% on the WISDM
dataset. In [8] the authors proposed a training methodology based on several
stages, by performing several transformations on the time series, to facilitate
the exploration of the feature space. After this comes a deep CNN network
that performs an extraction of the features of each space. The result is
combined to obtain a better performance on three databases UCI HAR, USC
HAR and SKODA. In [9] The authors proposed a CNN-LSTM network
capable of classifying the activities of HAPT open dataset with an accuracy of
85.87%. First, they made a transformation of the times series data to an image
like two-dimensional array. Then they deployed three Convolutional neural
network layers for the extraction of the motion features, and finally the LSTM
layer comes to establish a relation between the actions and the sequences.
In [10] The authors proposed a network called PEN PERCEPTIVE extraction
network, which is divided into two parts : the first one is a CNN, and the
second one is an LSTM-based feature extraction. The whole allowed to make
a robust feature extraction which was reflected on the results obtained for two
databases UCI HAR and WISDM. In [11] The authors also chose to exploit
the signals generated by an accelerometer and a gyroscope to classify the six
activities of the UCI dataset, they built four networks based on LSTM, they
found that the combination between CNN-LSTM provided the best score and
allowed a better extraction of features. In healthcare domain [12] the authors
proposed EnsemConvNet, constituted of three classification networks built all
around 1D Convolutional network, CNN-NET, Encode-NET, CNN-LSTM,
the classification result is decided using the techniques of classifier combina-
tion. In [13] with the help of a new technique of dimentiality reduction the
authors were able to reduce the number of features of the UCI HAR dataset
to 66 features, this technique is called FFDRT and it allowed them to have an
accuracy of 98.72%.
Authors in [14] followed the same logic, they combined four convo-
lutional layers, two recurrent LSTM layers and an ELM classifier to take
advantage of its generalization and learning speed capabilities for activity
recognition. authors used in [15] smartphones to collect data they adapted
a classic CNN architecture called LeNET [16], after training on six ele-
mental activities the generated model is transferred back to the android
phone.
 Basic Activity Recognition from Wearable Sensors 245

3 Background
3.1 Recurrent Neural Network
RNNs is a type of neural networks that were initially created in the 1980’s, for
the purpose of anticipating what’s coming straightaway in an extremely exact
way. This ability is what they made them the most suitable for sequential
data like time series prediction, speech and audio recognition, financial data,
weather forecasting and much more. RNN possesses cyclic connections that
allows it to learn the temporal dynamics of sequential inputs. Each node in
the hidden layer has a function that input the current hidden layer state ht and
generate the output yt based on its current input xt and the previous hidden
state ht−1 according to the following equations:

ht = F (Wh ht−1 + Uh xt + bh ) (1)

yt = F (Wy ht + by ) (2)

Wh , Uh , and Wy are the weight for the hidden-to-hidden recurrent connec-

tion, input-to-hidden connection, and hidden-to-output connection, respec-
tively. bh And by are bias terms for the hidden and output states, respectively.
Each node also has an activation function F connected with it [17]. This is an
element-wise non-linearity function that is commonly selected from a variety
of existing functions, such as the sigmoid, hyperbolic tangent or rectified
linear unit (ReLU) [17].

3.2 Long Short-term Memory

The vanishing and exploding gradient are serious problems that delay the
gradient to back propagate through long range time intervals and that makes
the training of regular RNNs a very challenging Task. LSTM is designed
to solve the problems of RNN. This method is based on changing the
structure of hidden units from “sigmoid” or “tanh” to memory cells, with
gates controlling their inputs and outputs [18]. These gates regulate the flow
of information to hidden neurons and preserve extracted features from earlier
time steps [19].

3.3 Support Vector Machine

Or SVM is a machine learning algorithm known for its powerful extraction
capabilities, making it a useful tool in a variety of applications such as cancer
detection, facial recognition, and fraud detection.
246 Z. Benhaili et al.

SVM works mainly by creating a hyperplane that can effectively separate

two kinds of data [20], it aims to maximize the distance between them.
Mathematically this plan can be expressed as:
F (x) = ω · x + b = 0 (3)
The offset between the hyperplane and the origin plane is represented by
b. Where ω designates the normal to that hyperplane.
We can convert the initial objective function into a dual min max
optimization task by applying the Lagragien coefficient.
n
1 X
min ω,b max α L(ω, b, α) = kωk2 − αi [yi (ω · xi + b) − 1] (4)
2
i=1

L is the Lagragien function and αi are its coefficient, p is a penalty factor.

And the index i takes values from 0 to p.

4 Proposed Methodology
4.1 Architectures
We discuss in this section our Stacked LSTM network [21] versus other
architectures that we proposed to investigate the performance on motion
detection. We mention that UCI HAR database was used for evaluation.
The First architecture: Stacked LSTM has been frequently used in the
literature for time series prediction, for its capability of identifying and
extracting temporal relationships between signal readings. Our first LSTM
network, in which we used three consecutive layers of LSTM to represent
more complicated patterns, adding depth to the network and increasing its
extraction capacity. After that, we added a dropout layer with a different num-
ber of nodes for each layer. Using a mix of 128,64 and 32 nodes, we were able

Figure 1 Deep Stacked LSTM network.

 Basic Activity Recognition from Wearable Sensors 247

Table 1 The parameters of our network

Parameters Value
lstm layer 1 128
lstm layer 2 64
lstm layer 3 32
dropout 90%
flatten –
dense layer 3 output numbers=6 (Softmax)

Table 2 Details and parameters of the tested structures

Structure Accuracy % Parameters Time/Epoch
A: lstm(32)-lstm(32)-lstm(32) 94.19 46,598 2s
B: lstm(64)-lstm(64)-lstm(64) 95.82 134,150 2s
C: lstm(128)-lstm(128)-lstm(128) 95.14 432,134 3s
D: lstm(128)-lstm(64)-lstm(32) 96.098 157,062 2s

to achieve good accuracy with a small number of parameters. Table 2 below

shows the various designs that were studied. We kept adjusting our network
and analyzed several parameters such as the number of Dropout. During our
experience we observed that increasing the number of layers degrades the
performance, while shallow architectures that use one- or two-layers lead to
weak accuracies. All the LSTM layers are followed by a dropout after the
third layer and before the final dense layer to reduce overfitting.
To arrive to the network presented in Table 1 we performed an investi-
gation on the most impacting hyper-parameters. Therefore, we built several
variants of our network to verify the impact of the architecture and the number
of nodes on the total performance.
We indicate the number of nodes in between brackets. It can be seen in
Table 2 that structure D, provided the best performance while maintaining
deepness and a limited number of parameters without slowing down compu-
tation speed. In what follows, we adopted this structure and we continued to
tune the hyper-parameters. To limit the influence of overfitting, we examined
multiple values of dropout ranging from 0.2 to 0.9 and evaluated the accuracy
for each one. We found that large values of dropout improve the performance,
and 0.9 enhance the accuracy.
Figure 2 presents the accuracy of each dropout value. Batch size. Using
small values of batch size as 32 gave us a good accuracy compared with
large values like 128 and 192, which tend to speed up the calculation, but on
the other hand limits the number of updates to reach the convergence [22].
248 Z. Benhaili et al.

96.87%
95.12%
94.97%
95.92%
95.92%
95.31%
95.96%
96.23%
95.69%
96%
94.46%
ACCURACY%
0 10 20 25 30 40 50 60 70 80 90
DROPOUT %

Figure 2 Impact of dropout.

Table 3 Impact of batch size on accuracy for UCI

Batch Size Accuracy Time Per Epoch
32 97.15% 23 s
64 96.10% 12 s
128 94.70% 3s
192 96.064% 4s

Table 4 Impact of the optimizer on accuracy UCI HAR

Optimizer Adadelta Nadam SGD Adam RMSProp
Accuracy % 50,39 96,06 90,74 97,15 96,47

Table 3 shows that the best score is obtained when the batch size is set
to 32. Effect of the Optimizer. Table 4 shows that, when compared to the
Adadelta, Nadam, and SGD optimizers, Adam optimizer produced the best
results with the fastest calculation using its default values (Learning rate =
0.001). Rmsprop also provided us with a good level of accuracy.
The second architecture called S-LSTM-CRF presented in Figure 3 is a
modification of the first stacked LSTM architecture with the same number of
nodes but with a difference in the final layer. In this network, instead of using
Softmax to do the classification, we chose Conditional random field (CRF).
This algorithm uses log-loss. we had an accuracy that does not exceed 92%,
this result does not increase even if we change the value of hyper parameters.
The third architecture S-LSTM-SVM, presented in Figure 4 uses the
same LSTM model but this time CRF is replaced by SVM which uses Hinge
loss.
The Fourth architecture SLSTM + Inception, this network is based on
an adaptation of inception network for time series data.
The Inception Module is a structure that permits various types of filters to
be combined in a single network. We adjusted this module for time series data
 Basic Activity Recognition from Wearable Sensors 249

Figure 3 Three stacked LSTM with CRF in the last layer (S-LSTM+CRF).

Figure 4 Three stacked LSTM with SVM in the last layer.

Figure 5 Inception module basic version.

by utilizing only the naı̈ve version presented in Figure 5, changing the number
of the convolution filters 1*1, 3*3, and 5*5, and using one-dimensional
convolution and Maxpooling layers instead of 2 dimensional operations in
each layer. Last the concatenation of all layers into a single output is done in
next layer. The performances of all the proposed architectures tested on UCI
HAR are evaluated in Table 5.
The combination between CNN and LSTM was presented in several
works in the literature and it allowed to reach good results. The main idea
is to design a network which is wide using the concatenated convolutions
250 Z. Benhaili et al.

Figure 6 Deep Stacked LSTM + Inception.

Table 5 Comparison results

Architecture Accuracy
Basic Inception module 93.92 %
Stacked LSTM + Inception module 97.20 %
Stacked LSTM 97.15 %
Stacked LSTM + Inception module + CRF 93%
Stacked LSTM + CRF 92%
Stacked LSTM + SVM 93.24%

and deep by combining our first network stacked LSTM with four inception
modules. This combination exposed in Figure 6 gives us the best accuracy
which is 97.20%, it is superior to our first stacked LSTM, but the number
of parameters is big. We remarked that increasing the number of inception
modules increase the performance after training the model over 200 epochs,
unfortunately this increases also exponentially the complexity.
After analyzing the performance, the use of three LSTM layers is the
best. This is also proven by the combination of these three layers with
other networks. Below three LSTM layers the model significantly loses its
extraction capacity, and above this value the model falls into overfitting. We
notice that the use of more than three Inception modules with our stacked
LSTM increases the accuracy but at the same time the complexity, which
favors the use of the Stacked LSTM because of its lightness. The use of
the Inception module alone also gives a good result. The second part of the
experiment shows that the placement of the Softmax function at the last layer
is preferable and gives better results than the use of CRF and SVM.

5 Experiment
5.1 Datasets
We considered two public benchmark datasets for HAR to evaluate the
performance of our network. Here is a brief description of each:
 Basic Activity Recognition from Wearable Sensors 251

Figure 7 Distribution of UCI HAR activities.

Figure 8 Distribution of WISDM activities.

UCI HAR [23] is a dataset collected by 30 users of different ages (from

19 to 48 years) wearing Samsung Galaxy SII smartphones on the waist and
performing six activities as presented in Figure 7. The accelerometer and
gyroscope sensors are used to collect data. The available dataset contains
10,299 samples which are already separated into a training set and a test set.
WISDM v1.1 [24], provided by the wireless sensor data mining
(WISDM) Lab, is a dataset collected by using only one accelerometer of
a smartphone in the front pants leg pocket. Sampled at 20Hz, the chosen
activities were selected depending on their performance regularity in daily
life. Walking, Jogging, Upstairs, Downstairs, Sitting, and Standing presented
in Figure 8, were performed by 36 volunteer participants.

5.2 Performance Measure

We utilized four widely used evaluation metrics to compare the model’s
performance, they are Accuracy, Recall, Precision, F-Measure, defined as
follows (TP: True Positive, TN: True Negative, FP: False Positive and FN:
252 Z. Benhaili et al.

False Negative):
TP + TN
Accuracy = (5)
TP + TN + FP + FN
TP
Precision = (6)
TP + FP
TP
Recall = (7)
TP + FN
Precision × Recall
F-Measure = 2 × (8)
Precision + Recall

5.3 Training
UCI HAR dataset is devised to 70% for training and 30% for testing, as a
result subject’s 2, 4, 9, 10, 12, 13, 18, 20, and 24 data left unseen by the model.
This splitting will allow a fair comparison with previous works using the same
evaluation technique. We used Adam optimization algorithm to minimize the
cost function. Softmax layer exists in the final layer and the gradient back
propagates from this layer to the LSTM layers of the input. The dropout is
90%. During training we tested different batch sizes. for over 200 epochs we
selected the size of 32. The signals in this dataset have been pre-processed
using a low pass filter with 50% overlap. The sliding window has a size of
2.56 sec.
To verify the generalization capability of our network, we tested it on
WISDM dataset using raw data with no feature selection, we just applied a
sliding window, with a width of 180 and a time step of 100.

6 Results and Discussion

To compare our results, we draw Table 6 which contains the test accuracy
of various approaches. The score achieved surpasses other studies based
on feature selection or feature engineering, or methods based on traditional
machine learning classification algorithms.

Table 6 Comparison with other works on UCI HAR dataset

Approach [25] [26] Ours [27] [28] [29] [29] [30]
Accuracy % 91.76 93.18 97.15 95.49 93.6 95.75 94.79 92.16
 Basic Activity Recognition from Wearable Sensors 253

Table 7 Comparison with other works on WISDM

Approach Catal et al [31] Alsheikh et al [32] Ours Ravi et al [33]
Accuracy % 94.3 98.2 99 98.6

Figure 9 Confusion matrix for UCI HAR dataset.

To analyze the behavior of the detection of each class, we draw the

confusion matrix presented in Figure 9. It’s clear that doing the distinction
between the sitting and standing classes was a bit of a challenge for the model.
We can understand this misclassification if we remember the localization of
the sensor on the waist. This position tends to make the gathered signals from
those activities very similar. For WISDM dataset, we adopted two methods
of evaluation, using a split of 70% training – 30% testing and using 5-fold
cross validation. Although those two techniques are different, they have led
to approximately the same accuracy score. We compare in Table 7 the results
with the existing state of the art works. For the Per user classification Ignatov
et al. [34] chose the first 26 subjects for their training set and then tested the
results on the remaining ten users, achieving the score of 93.32%. We adopted
the same splitting, and we get 99% accuracy again. Figure 10 shows there is
a slight difficulty in the detection of upstairs and downstairs activities. To get
a comprehensive vision of which activities our model can detect the most,
we’ve included in Table 8 the classification results for each class.
WISDM and UCI HAR have nearly identical activities, except for jogging
and laying, which are distinct. We can divide them into two categories:
static and dynamic. The former includes laying and standing, while the latter
254 Z. Benhaili et al.

Figure 10 Confusion matrix for WISDM dataset.

Table 8 Per activity classification of our model

WISDM v1 UCI HAR
Precision Recall Precision Recall
downstairs 0.98 0.96 0.99 0.98
jogging 1 1 – –
sitting 1 0.99 0.96 0.90
standing 0.98 1 0.92 0.97
upstairs 0.96 0.99 0.98 0.99
walking 1 1 0.99 0.99
laying – – 0.99 1.00
F1-score 0.99 0.97

includes walking downstairs, jogging, walking upstairs, and walking. They

also present the vast bulk of the data in WISDM and almost half of UCI HAR
dataset. A recall of 1 for an activity C signifies that each item belonging to
this class, was labelled as belonging to class C. As can be seen in Table 8, we
had a good recall for all the classes in both datasets except sitting, where data
was gathered using an accelerometer and a gyroscope and classification was a
little more difficult, it is misclassified with standing. downstairs, on the other
hand, has a lower recall of 0.96 than the others, indicating that recognizing the
down direction with only one accelerometer is challenging. The remaining
activities have all a good recall reaching 1. The presented results show that
our model can detect those basic behaviors even when the position, number,
and kind of sensors are changed.
 Basic Activity Recognition from Wearable Sensors 255

7 Conclusion
In this work artificial intelligence and the IoT are exploited to design a
lightweight network capable of recognizing human activities. Our approach
is based on the use of stacked LSTM layers in an end-to-end fashion without
any data pre-processing. It eliminated the need of feature engineering and
provided a better performance than traditional methods based on feature
design. We plan to investigate other datasets with more complex actions in
the future, as well as an energy-efficient implementation of this model in
smart devices.

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 Basic Activity Recognition from Wearable Sensors 259

Biographies

Zakaria Benhaili received the engineering degree from the National School
of Applied Sciences at Sultan Moulay Slimane University, Khouribga,
Morocco, in 2017, Currently a PhD student in Third year in Faculty of
Sciences and Technologies at Hassan 1 st University. His main research
area includes Internet of Things, deep learning and its applications in human
activity recognition, pattern recognition, and smart homes.

Youness Abouqora received the engineering degree from the National

School of Computer Science and Systems Analysis from Mohamed Fifth
University, Rabat, Morocco, in 2009, and PhD student in fourth year at
MCSES in Faculty of Sciences and Technologies at Hassan 1 st University.
His current research interests include deep learning and its applications such
as in computer vision, pattern recognition, robotics.
260 Z. Benhaili et al.

Youssef Balouki Laboratory of Mathematics, Computer and Engineering

Sciences, Faculty of Sciences and Techniques, Hassan I University, Settat,
Morocco. Youssef Balouki is currently a Professor of computer science
with the Faculty of Science and Technologies, Hassan I University, Settat,
Morocco. He has conducted many Ph.D. theses and has written a fifty of sci-
entific articles in the domain of artificial intelligence, software engineering,
model-driven development, data mining, and formal methods.

Lahcen Moumoun received the advanced graduate diploma in structural

calculation from the National School of Electricity and Mechanics of
Casablanca from Hassan Second University, Casablanca, Morocco, in 1995,
and the Ph.D. degree in image processing from in Faculty of Sciences and
Technologies at Hassan 1 st University, Morocco, in 2011. He has been a
professor of computer science engineering with Hassan 1 st University, since
2014. He has authored or co-authored more than 100 refereed journal and
conference papers, 10 book chapters, and three edited books with Elsevier
and Springer. His research interests include pattern recognition, computer
vision, big data and deep learning.