Fig. 5
From: Predicting reactive stepping in response to perturbations by using a classification approach
Performance of classification algorithms on the validation set using a the full feature set including CoP related features and b the kinematics feature set. In the Specificity plots lines for the CoM-time-to-boundary (TTB) and stability boundary (SB) concepts are overlapping. SLU indicates step leg unloading, TO indicates toe-off, tSLU−n and tTO−n indicate the nth time step before step leg unloading and toe-off respectively. Predictions were made using various observation time windows: from the start of the perturbation until each prediction time step