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. 2017 Feb 27;14:18. doi: 10.1186/s12984-017-0228-z

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© The Author(s). 2017

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Fig. 3 — Inertial sensor based gait parameter extraction paradigm. The upper plot shows an example signal of angles at toe off and heel strike and toe clearance during the swing phase. The middle plot show an example signal of acceleration in up and down direction and lower plot shows angular velocity in sagittal plane. The gait events heel strike (HS, X) and toe off (TO, O) are marked in the plots. Heel strike is determined from the negative peak in the acceleration signal and toe of from the zero crossing in the angular velocity signal