Fig. 3From: A powered prosthetic ankle joint for walking and runningStep detection: human reference shank velocity for 2.6 m/s running used for stride detection (mean of 21 able-bodied subjects). Zero crossing from negative to positive is used to determine the beginning of the next stride. Step detection starts at −150 °/s to prevent from errors that could occur by zero crossings at lower speeds during stanceBack to article page