Fig 1.

Generic illustration of the movement of the hoof (A), modified from Witte et al. [8], and the signals of the acceleration (B), angular velocity (C) and vertical force (D). The hoof-on and hoof-off events are depicted with the vertical dashed lines and the dots show the detected hoof-on and hoof-off events from the different signals. These hoof-events occur at the start and end of the stance phase, shown as the period not underlined by a dark beam. The horizontal dashed line in D shows the threshold used to detect the hoof-events from the force signal.