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Table 3 Regression models for the index, position and velocity of the different key events

From: Selective control of gait subtasks in robotic gait training: foot clearance support in stroke survivors with a powered exoskeleton

   β0(Intercept) β1(speed) β2(speed2) β3(body height) RMSE
Index HC CL 0 - - - 0
1st local max vel. 32.0 −7.79 0.826 - 1.92
max height 34.4 −5.27 0.579 - 1.70
2nd local max vel. 47.3 −0.609 0.0725 - 1.09
2nd local min vel. 52.4 - - - 1.26
  min height 88.2 −13.3 1.55 - 4.87
   β 0 (Intercept) β 1 (speed) β 2 (speed 2 ) β 3 (body height) RMSE
Position HC CL −0.387 x10-2 0.768 x10-2 - - 0. 572 x10-2
1st local max vel. 7.41 x10-2 1.73 x10-2 −0.165 x10-2 - 1.36 x10-2
max height −2.63 x10-2 3.57 x10-2 −0.362 x10-2 6.64 x10-2 1.44 x10-2
2nd local max vel. 1.49 x10-2 - 0.0221 x10-2 - 0. 345 x10-2
2nd local min vel. 1.05 x10-2 - - - 0. 231 x10-2
  min height 0 - - - 0
   β 0 (Intercept) β 1 (speed) β 2 (speed 2 ) β 3 (body height) RMSE
Velocity HC CL 2.79 x10-3 0. 732 x10-3 - −1.75 x10-3 0. 466 x10-3
1st local max vel. −6.22 x10-3 1.54 x10-3 −0. 207 x10-3 7.95 x10-3 1.08 x10-3
max height 0 - - - 0
2nd local max vel. −3.31 x10-3 - 0.0307 x10-3 2.35 x10-3 0. 970 x10-3
2nd local min vel. −2.57 x10-3 - - - 0. 628 x10-3
  min height 0 - - - 0
  1. Speed is expressed in km/h and body height in m.
  2. HC CL - Heel contact contralateral leg.
  3. “–“ indicates that that particular predictor variables does not contribute to the predictability of the key event.