NDOF ← # of DOFs

DOF ← {set of all DOFs}

MC ← {set of discrete and dual combined motion classes}

$M(1:3)\leftarrow \left\{\begin{array}{c}\left\{\mathit{\text{no movement}}\right\}\\ \left\{\mathit{\text{forward movement}}\right\}\\ \left\{\mathit{\text{reverse movement}}\right\}\end{array}\right\}$

f ← # of features

X ← features measurements at each window; ∈ ℝf

for i=1:NDOF

$\mathit{\text{TRAIN}}\_\mathit{\text{CLASSES}}(1:3)=\left\{\begin{array}{c}\left\{\mathit{\text{MC}}\right|{\mathit{\text{DOF}}}_i=M\left(1\right)\}\\ \left\{\mathit{\text{MC}}\right|{\mathit{\text{DOF}}}_i=M\left(2\right)\}\\ \left\{\mathit{\text{MC}}\right|{\mathit{\text{DOF}}}_i=M\left(3\right)\}\end{array}\right\}$

OUTPUT_CLASSi = arg max(p(X|TRAIN_CLASSES))

end

if sum(OUTPUT_CLASS > 1) > 2

CLASS(1) = arg max(p(X|OUTPUT_CLASSES))

CLASS(2) = arg max(p(X|OUTPUT_CLASS ≠ CLASS1))

else

RETURN(OUTPUT_CLASS)

end