Figure 2From: A novel walking speed estimation scheme and its application to treadmill control for gait rehabilitationCalculation of the average velocity by MSFV. Swing foot velocity can be modelled as a sine function with period T sw and magnitude V max ; average walking speed during the swing foot period can then be derived as V s w , a v g = 2 V mag π . (a) Swing foot velocity trajectory (b) Average velocity of the swing foot.Back to article page