Table 1 Kinematic trajectories of the hip and knee joints in the sagittal plane during robotic-guided walking

20% GF

1.5 Km/h speed

−16,47

23,49

39,96

14,10

41,20

80,40

12,40

51,02

38,62

11,76

0,40

70,40

2.0 Km/h speed

−14,37

24,38

38,75

11,64

48,40

85,20

7,56

57,52

49,96

13,29

99,20

70,80

2.5 Km/h speed

−13,01

19,86

32,87

8,42

49,20

85,60

6,25

62,52

56,27

15,07

97,60

70,80

40% GF

1.5 Km/h speed

−15,55

26,99

42,53

10,91

48,00

81,60

7,33

56,68

49,35

11,21

0,40

71,20

2.0 Km/h speed

−15,60

28,77

44,36

7,91

50,40

84,40

5,67

60,39

54,72

12,27

0,40

71,20

2.5 Km/h speed

−13,79

28,07

41,85

5,78

51,20

86,40

3,99

63,24

59,26

11,23

98,80

71,20

70% GF

1.5 Km/h speed

−13,90

28,48

42,38

6,27

51,60

84,80

5,02

59,97

54,95

9,82

0,40

73,20

2.0 Km/h speed

−14,12

30,00

44,12

5,06

51,20

83,20

4,31

60,18

55,86

9,12

98,80

71,60

2.5 Km/h speed

−13,60

31,67

45,28

6,54

50,80

84,80

3,52

61,65

58,13

10,23

99,20

71,20

100% GF

1.5 Km/h speed

−12,29

29,54

41,83

7,13

49,60

84,00

4,97

60,32

55,35

11,42

100,40

72,00

2.0 Km/h speed

−12,80

30,28

43,08

3,92

52,80

85,60

3,11

60,92

57,81

7,04

100,00

72,80

2.5 Km/h speed

−13,08

31,44

44,52

2,42

51,20

83,60

2,75

61,26

58,51

5,99

98,80

71,20

(1)

Minimum angle

(2)

Maximum angle

(3)

Range of motion ( (2) - (1) )

(4)

Standard deviation

(5)

Correspondent % Gait cycle of the minimum

(6)

Correspondent % Gait cycle of the maximum