Figure 3

Signal processing architecture for user's intent component separation. F _ij is the force signal obtained from axis (j), sensor (i). $F_{{(\iota f)}_{ij}}$ denotes the force signal obtained after the high frequency noise cancelation and $F_{{(cad)}_{ij}}$ is the periodical, cadence-dependent component of force. Finally, $F_{{(filt)}_{ij}}$ is the processed final signal related to user's navigation intent.