 A mature walking pattern is characterized by approximately 60\% of the gait cycle (i.e. from one initial contact of a foot to the next initial contact of the same foot) being the stance phaseof gait 40\% swing phase.
<clarity>  A mature walking pattern is characterized by approximately 60\% of the gait cycle (i.e. from one initial contact of a foot to the next initial contact of the same foot) being the stance phaseof gait 40\% swing phase.
 A mature walking pattern is characterized by the gait cycle (i.e. from one initial contact of a foot to the next initial contact of the same foot) being the stance phaseof gait 40\% swing phase.