Table 4.

Stride time RMSE and mean absolute bias values (standard deviation) for the straight over ground walking task and the obstacle navigation task reported in milliseconds. Algorithm type is represented by each row; sensor location is represented in each column. Bold text indicates an RMSE/mean absolute bias value was lowest across algorithms for a given sensor location. Italicized text indicates an RMSE/mean absolute bias value was lowest across sensor locations for a given algorithm.

		Straight over Ground Walking
Stride Time	Algorithm Type		Dorsal Foot	Heel	Lower Lateral Shank	Middle Lateral Shank	Shin Bone
	(1) Velocity Minima	RMSE Abs Bias	17.2	9.2	28.3	12.1	15.7
			11.5(12.8)	7.2(5.6)	18.6(21.4)	9.4(7.6)	10.7(11.5)
	(2) Velocity Zero Crossing	RMSE Abs Bias	12.3	12.4	12.6	12.8	12.8
			9.7(7.5)	9.9(7.5)	10.1(7.6)	10.2(7.7)	10.2(7.6)
	(3) SIacc/APacc	RMSE Abs Bias	35.0	33.6	45.5	53.3	28.0
			21.8(27.4)	23.3(24.2)	29.6(34.6)	40.6(34.6)	21.4(18.1)
	(4) MLvel/APacc	RMSE Abs Bias	14.8	13.4	11.7	10.7	34.6
			10.5(10.5)	9.8(9.1)	9.4(6.9)	8.8(6.1)	24.9(24.1)
	(5) APacc/MLvel	RMSE Abs Bias	29.1	20.1	70.4	52.9	52.3
			18.6(22.4)	11.0(16.8)	51.9(47.5)	33.3(41.0)	33.7(40.0)
		Obstacle navigation
	Algorithm Type		Dorsal Foot	Heel	Lower Lateral Shank	Middle Lateral Shank	Shin Bone
	(1) Velocity Minima	RMSE Abs Bias	19.5	9.4	33.3	15.5	21.6
			11.9(15.4)	5.6(7.5)	22.0(25.0)	10.5(11.4)	13.1(17.2)
	(2) Velocity Zero Crossing	RMSE Abs Bias	15	14.3	15	14.8	15.2
			11.2(10)	10.4(9.8)	11.3(9.9)	11.1(9.8)	11.4(10.1)
	(3) SIacc/APacc	RMSE Abs Bias	33.6	44.0	43.8	60.5	32.6
			22.1(25.4)	34.3(27.5)	30.9(31)	44.1(41.5)	20.3(25.6)
	(4) MLvel/APacc	RMSE Abs Bias	18.0	10.3	13.0	13.2	41.9
			11.6(13.8)	6.8(7.8)	9.6(8.7)	9.4(9.3)	29.7(29.6)
	(5) APacc/MLvel	RMSE Abs Bias	24.7	18.7	77.2	56.2	47.2
			17.2(17.7)	8.8(16.5)	58.5(50.3)	37.2(42.1)	31.1(35.5)