Table 3.

Fuzzy rules set.

FSRheel	FSR5th	FSR1st	FSRtoe	Gait Phase (Membership Value)
high	low	low	low	LR → 1
high	high	-	-	MSt → 1
low	high	high	-	TSt → 1
low	low	-	high	PSw → 1
low	low	low	low	Sw → 1