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Table 1 Average residual values after final run of the RRA in OpenSim

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) (N) (N) (Nm) (Nm) (Nm) (cm) (cm) (cm)
Maximum 12.9 33.3 17.4 29.3 40.6 40.6 3.8 2.3 0.4
Root mean square 7.4 9.6 11.1 9.8 19.3 11.1 2.6 1.5 0.2
  1. F x , F y , and F z refer to the residual forces at the pelvis. M x , M y , and M z refer to the residual moments at the pelvis. pErr x , pErr y , and pErr z refer to the translational position error of the markers