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. Author manuscript; available in PMC: 2017 Oct 23.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2016 Aug;2016:5083–5086. doi: 10.1109/EMBC.2016.7591870

Figure 1.

Figure 1

Illustration of adaptive algorithm. A forward predictor (left) classifies mechanical sensor patterns from data before the stride and transitions the leg into the predicted mode. After mechanical sensor data from the entire stride is collected, a backwards estimator classifies this longer window of data and determines the executed gait pattern. The output of the backwards estimator then provides a mode label for the pattern of data acquired before the stride (right). The pattern of sensor data and its given label are used to update the parameters of the forward predictor.