From: Learning to walk with an adaptive gain proportional myoelectric controller for a robotic ankle exoskeleton
F x
F y
F z
M x
M y
M z
pErr x
pErr y
pErr z
(N)
(Nm)
(cm)
Maximum
12.9
33.3
17.4
29.3
40.6
3.8
2.3
0.4
Root mean square
7.4
9.6
11.1
9.8
19.3
2.6
1.5
0.2