Simulations for different gait patterns. Panels A and B show the right and left Hip Flexion respectively. Panels C and D show the right and left knee flexion. The shadowed gray zone corresponds to the normal distribution of the possible joint angle trajectories and the dark green line represents the mean, i.e., the ground truth. The vertical shadowed green zone is the heel strike phase. Notice that the proposed model (red starred line) tracks better the ground truth, above all on the zones defined by the heel strike which are the most important when assessing pathological patterns. The blue crossed line corresponds to the trajectories computed from the fusion strategy but using the CoGx,y(t) of a classical compass pendulum.