Algorithm 1.

Gait phase extraction.

Input:  $F_z\in R^T$: T time series of the vertical load

Param:  Fth, influence, lag, phist, filtered∈Rlag

/* Parameter initialization */

1:  Fth ← 0.2

2:  lag ← 8

3:  influence ← 0.01

4:  phist ← 5

5:  Filtered(1:lag) ← 0

/* Phase Extraction */

6:  for t = 1 to T do

7:   [Pext(t), filtered] = SEGMENT (Fz(t), filtered)

8:  end for

9:  Poutput = POST REFINEMENT(Pext)

10:  return Poutput