Table 2. Phase templates for canonical gait coherence analysis (Collins and Stewart, 1993).

Limb ordering is (L1, L2, L3, R1, R2, R3).

Canonical gait	Phase template (cycles)
Tripod	[0, 1/2, 0, 1/2, 0, 1/2]
Left tetrapod	[1/3, 2/3, 0, 0, 1/3, 2/3]
Right tetrapod	[2/3, 0, 1/3, 0, 1/3, 2/3]
Wave	[1/6, 1/3, 1/2, 2/3, 5/6, 0]