event | detection/prediction |
---|---|
e_start_sit_to_stand | \(\dot {q}_{hip} > 14.3 \deg /s\) |
predict seat-off time tso | t@ max(qhip,predicted) |
e_seatoff_detected | max(qhip,buffered[t])== max(qhip,buffered[t + 1]) |
e_detect_start_assistance | tso−tcurrent<0.11s or ANN [54] |
e_assistance_done | τas==0 |
e_finish_sit_to_stand | qi close to qi,stand |
e_start_stand_to_sit | qknee<−28.6 deg and \(\dot {q}_{knee} < -17.2 \deg /s\) |
e_seatdown_detected | qknee<−68.8 deg |
e_finish_stand_to_sit | qknee<−77.3 deg and \(|\dot {q}_{knee}| < 5.7 \deg /s\) |
e_error | any encoder, controller or prediction error |