Fig. 3

Inertial sensor based gait parameter extraction paradigm. The upper plot shows an example signal of angles at toe off and heel strike and toe clearance during the swing phase. The middle plot show an example signal of acceleration in up and down direction and lower plot shows angular velocity in sagittal plane. The gait events heel strike (HS, X) and toe off (TO, O) are marked in the plots. Heel strike is determined from the negative peak in the acceleration signal and toe of from the zero crossing in the angular velocity signal