From: Biomechanics and energetics of walking in powered ankle exoskeletons using myoelectric control versus mechanically intrinsic control
F x
F y
F z
M x
M y
M z
pErr x
pErr y
pErr z
(N)
(Nm)
(cm)
Maximum
9.7
9.4
12.5
27.0
43.4
34.7
2.8
1.8
0.6
Root Mean Square
5.3
7.4
8.6
21.2
1.9
1.1
0.3