Figure 4: Theoretical heel sensor-based stimulation timing before (a) and after (b) eliminating gait cycles with extraneous stimulations. Stimulation initiation occurs prior to swing, during the previous stance phase (negative %cycle); stimulation termination occurs after swing, during the subsequent gait cycle (> 100% cycle). # reflects use of F-scan data rather than WalkAide heel sensor data for theoretical heel sensor-based stimulation.