Table 1.

Detection of gait-cycle events based on GRF-vertical-component measurements and the knee-flexion limit switch.

Detected Condition (t = Time Instant)	Event (Number/Name)	Gait-Cycle Percentage (%)
GRF(t − dt) = 0 & GRF(t) > 0	1/IC	0
GRF (t − dt) < GRF(t) > GRF(t + dt)	2/1st GRF peak	15
GRF(t − dt) > GRF(t) < GRF(t + dt)	3/heel rise	32
GRF(t − dt) < GRF(t) > GRF(t + dt)	4/2nd GRF peak	47
GRF(t) > 0 & GRF(t + dt) = 0	5/TO	64
Limit Switch Reached	6/max knee flexion	78