Table 1.

Common gait parameters and corresponding algorithms.

Gait Parameter	Description	Algorithm	Separately per Foot
Step length [m]	Distance between the heel of one foot to the heel of the next one along walking direction (see left and right step in Figure 1)	Distance passed from toe off to initial contact.	x
Cadence [1/min]	Step frequency	Number of steps/time [min]
Walking velocity [m/min]	Gait speed	Distance [m]/time [min] = stride_length [m] × cadence [1/min]/2
Stance time [s]	Time each foot has contact with the ground per step (see left and right stance in Figure 1.)	Last_contact_time – first_contact_time	x
Swing time [s]	Time each foot has no contact with the ground per step (see left and right swing in Figure 1)	Step[i + 1]. first_contact_time – step[i]. last_contact_time	x
Stride length [m]	Distance from one foot hitting the ground to its next ground contact (see full gait cycle shown in Figure 1 as example for right stride).	Step_lengthLeft + step_lengthRight	x