Learning to walk with an adaptive gain proportional myoelectric controller for a robotic ankle exoskeleton

Table 2 Resulting net metabolic cost from each time interval across sessions

	1^st Unpowered	Powered	Powered	2^nd Unpowered	Within session
	minutes 7–10	minutes 3–6	minutes 27–30	minutes 7–10	P-Value

Session 1	3.94 ± 0.25	3.72 ± 0.18	3.30 ± 0.15	3.86 ± 0.24	0.002
Session 2	3.75 ± 0.18	3.31 ± 0.19	3.08 ± 0.14	3.75 ± 0.20	0.024
Session 3	3.66 ± 0.18	3.14 ± 0.11	3.01 ± 0.08	3.74 ± 0.15	0.006
Across session P-Value	0.070	0.028	0.193	0.614	—

Net metabolic rates are all expressed in units of W kg ⁻¹ (mean ± s.e.m.). P < 0.05 represents statistical significance

ISSN: 1743-0003