Original Research Published on 24 Jul 2019 Stance and Swing Detection Based on the Angular Velocity of Lower Limb Segments During Walking Martin GrimmerKai SchmidtJaime E. DuarteLukas NeunerGleb KoginovRobert Riener Frontiers in Neurorobotics doi 10.3389/fnbot.2019.00057 25,043 views 72 citations