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. Author manuscript; available in PMC: 2011 Oct 13.
Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2011 Aug 18;19(5):567–577. doi: 10.1109/TNSRE.2011.2161888

Fig. 6.

Fig. 6

The criteria for gait phase detection. The contact threshold was 1% of maximum vertical ground reaction force measured from individual subjects.