Fig. 6
From: Foot progression angle estimation using a single foot-worn inertial sensor
Two-dimensional foot trajectories. Trajectories of the foot of one representative subject in the horizontal plane of the dynamic foot frame during three consecutive steps for each FPA condition (normal, toe-in and toe-out). All steps start in the origin since the dynamic foot frame is defined to start at zero. The final position of the foot during a step is used to determine the FPA according to Eq. (7) and is shown in the legend for each step