Algorithm 2.

Gait segmentation.

1:  function SEGMENT(fz, filtered)

2:   filtered(i) = filtered(i+1) for i = 1:lag−1

3:   fz = 1 if fz>1 and fz=0 if fz < 0

4:   if fz == mean(filtered) then

5:   pext = 0 // swing phase

6:   filtered(lag) = fz

7:   else

8:   if ft>Fth then

9:   pext = 1 // stance phase

10:   else if ft≥ mean(filtered) then

11:   // increasing vertical load

12:   pext = 1 // stance phase

13:   else

14:   pext = 0 // swing phase

15:   end if

16:   filtered(lag) = influence·fz+(1−influence)·filtered(lag−1);

17:   end if

18:   return pext, filtered

19:  end function