Fig. 3

Similarity metrics between reference trajectories and those generated by the controlled exoskeleton. Histograms report root mean square errors (top row, degrees) with standard deviations (bars on top of the histograms) and Pearson correlation coefficients (bottom row) between ensemble average curves obtained for all trials per subject for the specific subject and condition. They are reported for both the low-gain and high-gain assistance levels as well as for individual participants (Table 2) and test types, i.e., the OUT- and IN- types