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Flowchart of the proposed method. (A) Gait phase, extracted from the vertical load, is converted to the 2-D variable. (B) The joint angles, vertical load, and gait phase variable are scaled for application to the deep neural network (DNN). (C) The scaled (i.e., converted) joint angles and vertical load are used as input for the DNN. (D) The DNN output is scaled and converted to the predicted gait phase.
