Table 1 IMU signal markers and search windows for detection of swing start and end time positions in forelimb and hindlimb strides.

Forelimb

Swing Start

M1: negative Rz’ peak with the highest prominence with positive Ax

M2: midpoint between max(Ax) and Ax = 0

[T_N – HW_N, T_N]

Swing End

M1: Ax’ peak with the highest prominence excluding the first Ax’ peak

M2: max(Rz’) outside Rz peak boundary

[T_N + HW_N, T_N+1 – 1.5 × HW_N+1]

Hindlimb

Swing Start

M1: Ax first crosses zero from negative to positive before the last negative Rz’ peak

M2: Ay’ starts to decrease significantly (> 50 g/s)

[T_N-1 + 2 × HW_N-1, T_N-HW_N]

Swing End

M1: A_y reaches -g or a negative peak after peak A_y outside T_N + HW_N

M2: negative Rz peak after T_N + HW_N

[T_N, T_N + 2 × HW_N]