Table 4 Summary of results with different collaboration modes
From: Neural Network Robust Control Based on Computed Torque for Lower Limb Exoskeleton
Condition | Different collaboration modes | |||
|---|---|---|---|---|
Trolley-assisted | Independent | Load-bearing | ||
Tracking error (RMS) (°) | Hip | 0.53 | 0.69 | 0.79 |
Knee | 1.2 | 1.5 | 1.5 | |
Torque (RMS) (N·m) | Hip | 18 | 25 | 30 |
Knee | 16 | 18 | 22 | |
Interaction force (RMS) (N) | Thigh | 2.1 | 6.3 | 6.1 |
Calf | 7.1 | 4.7 | 4.7 | |