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GED algorithms using acceleration and\/or angular velocity signals achieve reasonable performance; however, most are not suited for real-time applications involving clinical populations walking in free-living environments. The aim of this study was to develop and evaluate a real-time rules-based GED algorithm with low latency and high accuracy and sensitivity across different walking states and participant groups. The algorithm was evaluated using gait data collected from seven able-bodied (AB) and seven lower-limb prosthesis user (LLPU) participants for three walking states (level-ground walking (LGW), ramp ascent (RA), ramp descent (RD)). The performance (sensitivity and temporal error) was compared to a validated motion capture system. The overall sensitivity was 98.87% for AB and 97.05% and 93.51% for LLPU intact and prosthetic sides, respectively, across all walking states (LGW, RA, RD). The overall temporal error (in milliseconds) for both FS and FO was 10 (0, 20) for AB and 10 (0, 25) and 10 (0, 20) for the LLPU intact and prosthetic sides, respectively, across all walking states. Finally, the overall error (as a percentage of gait cycle) was 0.96 (0, 1.92) for AB and 0.83 (0, 2.08) and 0.83 (0, 1.66) for the LLPU intact and prosthetic sides, respectively, across all walking states. Compared to other studies and algorithms, the herein-developed algorithm concurrently achieves high sensitivity and low temporal error with near real-time detection of gait in both typical and clinical populations walking over a variety of terrains.<\/jats:p>","DOI":"10.3390\/s22228888","type":"journal-article","created":{"date-parts":[[2022,11,18]],"date-time":"2022-11-18T06:11:34Z","timestamp":1668751894000},"page":"8888","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Rules-Based Real-Time Gait Event Detection Algorithm for Lower-Limb Prosthesis Users during Level-Ground and Ramp Walking"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8452-401X","authenticated-orcid":false,"given":"Aliaa","family":"Gouda","sequence":"first","affiliation":[{"name":"Institute of Biomedical Engineering, University of Toronto, Toronto, ON M5S 3G9, Canada"},{"name":"Bloorview Research Institute, Holland Bloorview Kids Rehabilitation Hospital, Toronto, ON M4G 1R8, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jan","family":"Andrysek","sequence":"additional","affiliation":[{"name":"Institute of Biomedical Engineering, University of Toronto, Toronto, ON M5S 3G9, Canada"},{"name":"Bloorview Research Institute, Holland Bloorview Kids Rehabilitation Hospital, Toronto, ON M4G 1R8, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Guimaraes, V., Sousa, I., and Correia, M. 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