Fig. 2

a IMU setup on a participant and walking track with forceplates mounted level with the surrounding floor. b IMU-measured pelvis acceleration and shank and thigh angles were used in combination with subject-specific estimation algorithms to generate indirect measurements of the anterior-posterior ground reaction force (AP-GRF). Moreover, the shank angle was used to identify the stance phase, defined as the period between heel strike and toe off of the target limb. c IMU-based AP-GRF (indirect) and forceplate measured AP-GRF (direct). Direct AP-GRF measurements were limited to forceplate strikes, thus one stride