Table 3 Summary of results with different walking gait cycles
From: Neural Network Robust Control Based on Computed Torque for Lower Limb Exoskeleton
Condition | Different walking gait cycles | |||
|---|---|---|---|---|
Gait cycle 4.0 s | Gait cycle 3.5 s | Gait cycle 3.0 s | ||
Tracking error (RMS) (°) | Hip | 0.55 | 0.63 | 0.74 |
Knee | 1.2 | 1.3 | 1.5 | |
Torque (RMS) (N·m) | Hip | 17.6 | 22.9 | 27.7 |
Knee | 19.1 | 14.1 | 17.4 | |
Interaction force (RMS) (N) | Thigh | 5.7 | 7.4 | 8.3 |
Calf | 6.7 | 7.1 | 6.2 | |