Figure 7. A bar chart showing the relative root mean squared error (rRMSE) (A), difference in peak braking force (B), and difference in peak propulsive force (C) between the measured and estimated anteroposterior ground reaction force traces.

rRMSE is relative to the range of measured force values. Each bar shows the mean error of all foot contacts for that participant and error bars show $\pm$ one standard deviation. The order of participants along the x-axis are sorted from smallest to largest mean $GR{F}_{ap}$ rRMSE values.