# Research on Kinematic Parameters of Multiple Gait Pattern Transitions
## 4 Discussion
Moreover, generally, from the distribution of the significant difference points of the trailing limb in each phase of the gait cycle, we can clearly see that in all the gait patterns transition comparisons, the differences of basically all the parameters mostly occur in the last two phases of the gait cycle (Tables 4-8). Figure 5: Average profile of the parameters: **(a)** during L-S DOWN and **(b)** during L-R DOWN. rt indicates the hip of leading limb, It indicates the hip of trailing limb, rs indicates the knee of leading limb, Is indicates the knee of trailing limb, rf indicates the ankle of leading limb, If indicates the ankle of trailing limb, trunk is trunk, T indicates the thigh of the leading limb, S indicates the shank of the leading limb, aa indicates angular acceleration, av indicates angular velocity, a indicates acceleration, and v indicates velocity. The dashed lines indicate transition stride. The solid lines indicate the stride before transition stride. We also found two special cases in the process of analyzing the data of the trailing limb. One is that the total significant difference points are few, and the difference points are relatively concentrated in the first two phases of the gait cycle. The other is that there are more total significant difference points, and the proportion of the difference points in the first two phases of the gait cycle is close, but it does not reach 60%. We believe that the impact of these two types of conditions on gait pattern transition recognition cannot be ignored. Category one: from Table 8, it can be seen that the angular velocity of the hip joint of the trailing limb is a parameter with early significant difference for L-R UP, but the significant difference points of the angular velocity of the hip joint in the whole cycle are less, only 36% (Table 2); moreover, the angular velocity of the knee joint of the trailing limb in the L-R DOWN stride showed a difference earlier compared with level walking (Table 8), the number of points of significant difference during the whole cycle was only 32% (Table 2). Category two: during L-R DOWN, the significant difference points in the first two phases of the angular velocity of the trailing limb hip joint accounted for 49% (Table 6), but there were more significant difference points in the whole gait cycle, and the angular velocity of the hip joint in the transition stride was greatly reduced compared with level walking (Table 8). The difference  
that in the level walking (Figure 5b). Thirdly, during R-L DOWN, the angular velocity of the hip and knee of the trailing limb in the first two phases of the gait cycle had a great change in the transition stride compared with that in the down-ramp walking. In the second phase of the gait cycle, the angular velocity of the knee was lower in the transition stride than that in the down-ramp walking (Figure 4b) in contrast to the angular velocity of the hip. Both of the two proportions of difference points in the first two phases of the gait cycle were less than 60%. In the process of L-S DOWN, the angular velocity of the hip and knee joint of the trailing limb also showed a similar condition (Table 4), but these two parameters had more than 50% significant difference points over the entire gait cycle, and both of them varied greatly (Figure 5a). However, the difference between these two types of parameters can be exploited by the research of a recognition algorithm. For the above two cases, we have reason to use these relevant parameters as reference parameters in future gait recognition applications. Therefore, from a comprehensive point of view, the angular velocity of each joint of the trailing limb can be considered as a reference parameter for gait pattern recognition, and the angular velocity of the hip and knee joint can be focused on to improve the rate of gait pattern recognition.