MOLAB's Gait Model - How we walk

In MOLAB, our vision is to empower people's ideas and emotions through motion. We are committed to promoting the understanding of human motion as an expression language. This post shares our knowledge about how we walk and describes the human gait model.

Walking is the most common motion that humans perform. Therefore, gait analysis is of core interest for our technology. Our gait model consists of gait-events, that define our posture transitions during a complete walking step (gait-cycle). It is important to understand these events and their associated body-posture. Detailed analysis of the gait process and measurement methods are presented in [1] and [2].

Gait Model: Gait states and events during the gait cycle

The gait-cycle is divided into the following states:

  1. Loading Response (0 − 10% of the GC): In this transition state, both feet are in contact with the ground (double support period). It is triggered by one foot’s initial floor contact event and continues until the other foot is lifted off the ground for swing (opposite foot toe-off event).

  2. Stance (10 − 50% of the GC): After the opposite toe-off, the foot becomes completely static and in full contact with the ground during a single support period (i.e., single-foot contact with ground), while the other foot is swinging.

  3. Pre-Swing (50 − 60% of the GC): This state mirrors the Loading Response on the other foot. It starts when the opposite swinging foot hits the ground (opposite initial contact event), while the stance foot is lifted for the swing. The state ends with the foot toe-off event.

  4. Swing (60 − 100% of the GC): After toe-off, the foot progresses forward until it hits the ground at the next initial contact event.


[1] D. Levine, J. Richards, and M. W. Whittle, Whittle’s Gait Analysis. Churchill Livingstone, 2012.

[2] A. Ahmed, S. Roumeliotis, A Visual Inertial Approach for Human Gait Estimation, ICRA 2018.

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