Most of the research on data-driven speech representation learning has focused on raw audios in an end-to-end manner, paying little attention to their internal phonological or gestural structure. This work, investigating the speech representations derived from articulatory kinematics signals, uses a neural implementation of convolutive sparse matrix factorization to decompose the articulatory data into interpretable gestures and gestural scores. By applying sparse constraints, the gestural scores leverage the discrete combinatorial properties of phonological gestures. Phoneme recognition experiments were additionally performed to show that gestural scores indeed code phonological information successfully. The proposed work thus makes a bridge between articulatory phonology and deep neural networks to leverage informative, intelligible, interpretable,and efficient speech representations.