A method for controlling active footwear, the method comprising: receiving a time-varying sensor signal from a capacitive sensor (700, 800, 900, 902) that is coupled to an article of footwear, wherein the capacitive sensor (700, 800, 900, 902) is configured to sense information about a position of a foot as the foot enters or exits the article; and using a processor circuit: identifying a first signal change event in the received time-varying sensor signal, the first signal change event corresponding to a signal magnitude change increase from a reference capacitance of the capacitive sensor (700, 800, 900, 902) that exceeds a specified threshold magnitude change amount (ΔC); upon identifying the first signal change event, determining that the foot is present in the article; adjusting the reference capacitance of the capacitive sensor (700, 800, 900, 902); identifying a second signal change event in the received time-varying sensor signal, the second signal change event corresponding to a signal magnitude change decrease from the adjusted reference capacitance of the capacitive sensor (700, 800, 900, 902) that exceeds the specified threshold magnitude change amount (ΔC); and upon identifying the second signal change event, determining that the foot is absent from the article. receiving a time-varying sensor signal from a capacitive sensor (700, 800, 900, 902) that is coupled to an article of footwear, wherein the capacitive sensor (700, 800, 900, 902) is configured to sense information about a position of a foot as the foot enters or exits the article; and using a processor circuit: identifying a first signal change event in the received time-varying sensor signal, the first signal change event corresponding to a signal magnitude change increase from a reference capacitance of the capacitive sensor (700, 800, 900, 902) that exceeds a specified threshold magnitude change amount (ΔC); upon identifying the first signal change event, determining that the foot is present in the article; adjusting the reference capacitance of the capacitive sensor (700, 800, 900, 902); identifying a second signal change event in the received time-varying sensor signal, the second signal change event corresponding to a signal magnitude change decrease from the adjusted reference capacitance of the capacitive sensor (700, 800, 900, 902) that exceeds the specified threshold magnitude change amount (ΔC); and upon identifying the second signal change event, determining that the foot is absent from the article. identifying a first signal change event in the received time-varying sensor signal, the first signal change event corresponding to a signal magnitude change increase from a reference capacitance of the capacitive sensor (700, 800, 900, 902) that exceeds a specified threshold magnitude change amount (ΔC); upon identifying the first signal change event, determining that the foot is present in the article; adjusting the reference capacitance of the capacitive sensor (700, 800, 900, 902); identifying a second signal change event in the received time-varying sensor signal, the second signal change event corresponding to a signal magnitude change decrease from the adjusted reference capacitance of the capacitive sensor (700, 800, 900, 902) that exceeds the specified threshold magnitude change amount (ΔC); and upon identifying the second signal change event, determining that the foot is absent from the article.