Fig. 2

Schematic diagram of the 8 phases in a gait cycle using a subject-specific kinematic model. A gait cycle: phase 1, the initial contact phase; phase 2, the loading response phase; phase 3, the mid-stance phase; phase 4, the terminal stance phase; phase 5, the pre-swing phase; phase 6, the initial swing phase; phase 7, the mid-swing phase; and phase 8, the terminal swing phase