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NOTICE: this is the author's version of a work that was accepted for publication in Gait and Posture. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version of this article was published in Gait and Posture, 61: 40-54, 2018 and can be found at http://dx.doi.org/10.1016/j.gaitpost.2017.12.022 (Please note: access via this link may only be available with a subscription)