Economical estimates of oxygen uptake as a function of gait parameters for an ambulatory monitoring system Tatsuhisa Takahashi and Hirotaka Yanagida and Kyuich Niizeki and Shuoyu Wang and Takashi Matsuo and Shinichi Watanabe and Akiyoshi Okada and Takashi Kuwayama and Junichi Natsui, Therapeutic Research, 30, 219-225 (2009), DOI:http://dx.doi.org/