Table 10. Mean and standard deviation of the true and absolute errors for estimating heel strike instants and gait parameters, when considering all subjects, trials, and detected heel strikes/gait cycles, for WF and WB trials.

		True error		Absolute error
		WF	WB	WF	WB
Heel strike instant (ms)	Left	14.8 ± 29.2	11.9 ± 23.6	21.9 ± 24.3	20.8 ± 16.2
	Right	14.4 ± 19.3	12.3 ± 21.9	19.2 ± 14.6	19.5 ± 15.7
	Both	14.6 ± 25.0	12.1 ± 22.7	20.6 ± 20.3	20.2 ± 16.0
Stride duration (ms)	Left	2.7 ± 35.4	2.4 ± 23.8	20.4 ± 29.1	18.3 ± 15.3
	Right	−1.3 ± 17.7	1.7 ± 24.9	13.3 ± 11.7	18.0 ± 17.3
	Both	0.9 ± 28.9	2.0 ± 24.3	17.2 ± 23.2	18.1 ± 16.3
Step duration (ms)	Left	0.4 ± 25.4	3.5 ± 23.6	19.1 ± 16.7	18.3 ± 15.3
	Right	1.6 ± 19.9	1.8 ± 23.8	15.3 ± 12.8	17.6 ± 16.0
	Both	0.9 ± 23.1	2.7 ± 23.7	17.4 ± 15.1	18.0 ± 15.6
Stride length (cm)	Left	1.2 ± 1.7	−0.2 ± 3.3	1.7 ± 1.3	2.5 ± 2.2
	Right	0.6 ± 1.3	0.0 ± 3.8	1.1 ± 1.0	2.9 ± 2.5
	Both	0.9 ± 1.6	−0.1 ± 3.6	1.4 ± 1.2	2.7 ± 2.4
Step length (cm)	Left	−3.3 ± 4.9	−4.2 ± 5.5	4.2 ± 4.2	5.6 ± 4.0
	Right	−2.2 ± 3.5	−4.1 ± 5.5	3.3 ± 2.5	5.4 ± 4.1
	Both	−2.8 ± 4.4	−4.1 ± 5.5	3.8 ± 3.5	5.5 ± 4.0
Gait speed (m/s)	Left	0.010 ± 0.032	−0.005 ± 0.038	0.017 ± 0.029	0.028 ± 0.025
	Right	0.007 ± 0.014	−0.002 ± 0.037	0.012 ± 0.010	0.029 ± 0.023
	Both	0.009 ± 0.026	−0.003 ± 0.037	0.015 ± 0.023	0.029 ± 0.024