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Types of input–output pairs analysed in this paper. L and R represent the Poincaré sections associated with heel-strike events of the left and right legs. (a) Left-to-right step maps (top) and right-to-left step maps (bottom). Step maps are denoted using straight arrows. (b) Left-to-left stride maps (top) and right-to-right stride maps (bottom). Stride maps and step maps are distinguished throughout the paper by shape (straight versus curved arrows, respectively).
