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Mode-specific classification scheme. Ten classifiers were trained for each leg corresponding to all combinations of incoming activity [level walking (LW), ramp ascent (RA), ramp descent (RD), stair ascent (SA), and stair descent (SD)] and gait event [heel contact (HC) and toe off (TO)]. The possible predictions for each classifier are listed as steady-state (SS) or transitional (T) activities.
