Figure 2

Examples of correctly and incorrectly identified missteps. a) Successful detection of a misstep occurring in the laboratory in the vertical acceleration. This misstep has relatively low acceleration, nonetheless, the change in the gait pattern is clear. b) Successful detection of a misstep occurring in the laboratory in the vertical acceleration. This misstep has relatively high acceleration with a clear change in the gait pattern. c) An example of a missed misstep. This event was not detected by the algorithm due to the low accelerations, and because the changes in the gait pattern are clear only in the vertical acceleration but not in the medio-lateral and anterior posterior directions. d) An example of a false alarm. In this gait window, there is very high amplitude and a clear change in the gait pattern due to obstacle negotiation, and therefore was not annotated as a misstep.