Figure 1.

Setup of the sensor-based human gait data capturing system: (a) Waist-belt (uncovered) having three IMUZ sensors; (b) three axes of a typical IMUZ sensor; (c) Sensors’ attachment at left, right, and center-back position; and (d) Real data collection image, where a subject is wearing a belt, and flat ground, stairs and slope are highlighted in the environment. (This Figure was previously published in [17] as Figure 8. Hence, it is reprinted from [17], Copyright (2015), with permission from Elsevier).