Algorithm 1 Offline Feet Contact Cassification.
Require: FT sensor forces (z component) for right foot ${}^{\mathcal{R}F}{\mathit{f}}_z$ and left foot ${}^{\mathcal{L}F}{\mathit{f}}_z$
1:	procedure
2:	N ← number of samples
3:	$T_{f_z}$ ← threshold on fz = mean(${}^{\mathcal{R}F}{\mathit{f}}_z+{}^{\mathcal{L}F}{\mathit{f}}_z$)
4:	main loop:
5:	for $j=1\to N$ do
6:	if $abs\left({}^{\mathcal{R}F}{\mathit{f}}_z-{}^{\mathcal{L}F}{\mathit{f}}_z\right)\le T_{f_z}$ then
7:	Classify j as double support sample
8:	else
9:	if ${}^{\mathcal{R}F}{\mathit{f}}_z\left(j\right)>{}^{\mathcal{L}F}{\mathit{f}}_z\left(j\right)$  then
10:	Classify j as right single support sample
11:	else
12:	Classify j as left single support sample
13:	end if
14:	end if
15:	end for
16:	end procedure