Table 2 Overview of standing sessions, control types, and data collection
Standing Round | Session | Number of Steps | Perturbation | Control type | Purpose | Number trials analyzed |
|---|---|---|---|---|---|---|
1–2 | 1 | None | Feed Forward | Adjusting Activation Parameters | None | |
3 | 1 | 2–17.5% BW | Feed Forward | Observing Stepping Time | None | |
4 | 1 | 2–10% BW | Reactive | Adjusting Threshold Parameters | None | |
5 | 1 | 5–17.5% BW | Reactive | Adjust Threshold parameters | None | |
6 | 2 | 17 | 15% BW | Reactive | Experimental Procedure Practice and Data Collection | Last 15 |
7 | 2 | 14 | 17.5% BW | Reactive | Data Collection | All |