Table 3.

Mapping between gait phase, FSR sensor readings, and desired angle saturation limit.

Gait phase	Initial stance	Middle stance	Toe-off	Swing
Front sensor	Low	High	High	Low
Back sensor	High	High	Low	Low
Saturation limit	0${}^{\circ }$	0${}^{\circ }$	$-{20}^{\circ }$	0${}^{\circ }$

A negative angle indicates plantarflexion.