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Accurate and reliable real-time detection of gait events using inertial measurement units (IMUs) is crucial for (1) developing clinically meaningful gait parameters to differentiate normal and impaired gait or (2) creating patient-tailored gait rehabilitation strategies or control of prosthetic devices using feedback from gait phases. However, most previous studies focused only on algorithms with high temporal accuracy and neglected the importance of (1) high reliability, i.e., detecting only and all true gait events, and (2) real-time i
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