Fig. 1
From: Novel velocity estimation for symmetric and asymmetric self-paced treadmill training
Illustration of trailing leg push-off. On a treadmill, the absolute location of the calcaneus markers are a function of both belt velocity and the relative velocity between the user and the belt. At faster walking velocities, ankle motion during push-off shorten the estimated distance between the calcaneus markers (\(\mathrm {LCAL}\) and \(\mathrm {RCAL}\)). We improved the velocity estimation error by calculating the push-off length (\(\mathrm {L}_{PO}\)) and adding it to the difference in the calcaneous markers to find total step length (\(\mathrm {L}_{step}\)).