| Initial Contact | The beginning of the stance phase that occurs when the foot touches the ground. |
| Loading Response | Corresponds to the amount of time between initial contact and the beginning of the swing phase for the other leg. |
| Midstance | Corresponds to the point in stance phase when the other foot is off the floor untill the body is directly over the stance limb. |
| Terminal Stance | Begins when the stance limb's heel rises and ends when the other foot touches the ground. |
| Pre-swing | Begins when the other foot touches the ground and ends when the stance foot reaches toe off. |