Fig. 5

Targeted percent swing of perturbation versus the actual percent swing. Targeted percent swing is the input of the predictive targeting algorithm. Data are shown for 190 stumbles (28 trips per 7 subjects, excluding 6 mistrials). The mean absolute error of the system was 6.2% swing (2.5% stride), which corresponds to approximately 25 ms. An identity line is included to better visualize the system’s accuracy. The stride equivalent axis assumes swing phase makes up 40% of the stride cycle