Table 2 Summary of Exoskeleton Test Results, Initial Parameters, Control Scheme, and Test Length for Tests Conducted Using the Hybrid Exoskeleton on one Healthy Individual. RMSE = Root Mean Square Error
Test n.o. | Initial k | Initial Assist (%) | Test Time (mins) | Volitional Movement | Control | Final k | Median Error | Average Error | vthresh(v) | RMSE |
|---|---|---|---|---|---|---|---|---|---|---|
1 | 1 | 50 | 2 | No | Hybrid | 0.6 | −5.2 | − 0.6 | 16 | 27.9 |
2 | 1 | 0 | 2 | No | Hybrid | 0.6 | 4.6 | 0.8 | 17 | 21.2 |
3 | 1.8 | 50 | 2 | No | Hybrid | 0.4 | −3.4 | −0.8 | 18.5 | 24.9 |
4 | 1.8 | 0 | 2 | No | Hybrid | 0.4 | 0.2 | 0.4 | 20 | 28.6 |
5 | 1 | 50 | 2 | Yes | Hybrid | 1 | −8.1 | −9.6 | 20.5 | 12.5 |
6 | 10 | 0 | 6 | No | FES Only | 0.2 | 27.3 | 25 | 20.5 | 42.9 |
7 | 10 | 0 | 6 | No | Hybrid | 0.4 | −0.9 | −4 | 22.5 | 29.7 |
8 | 10 | 0 | 2 | No | Hybrid | 0.4 | 4.3 | 6.8 | 19.5 | 39.7 |
9 | 1 | 0 | 6 | No | Motor Only | – | 20.7 | 25.5 | – | 51.1 |
10 | 1 | 100 | 2 | No | Motor Only,no assist-as-need | – | −9.1 | −8.8 | – | 21.8 |