Table 2 Overview of subtasks

Weight shift (lateral pelvis position: minimal and maximal position)

P_err=max(|P_ref,e1−P_meas,e1|, |P_ref,e2−P_meas,e2|)

2.50cm 4.17cm

Lateral foot placement (hip abduction angle: angle at 100% of gait cycle)

θ_err=∣θ_ref,e1−θ_meas,e1∣

1.15deg. 1.91deg.

Leading limb angle (hip flexion angle: maximal angle)

θ_err=θ_ref,e1−θ_meas,e1

2.15deg. 3.58 deg.

Trailing limb angle (hip flexion angle: minimal angle)

θ_err=θ_meas,e1−θ_ref,e1

1.75deg. 2.92deg.

Prepositioning (knee flexion angle: angle at 100% of gait cycle)

θ_err=θ_meas,e1−θ_ref,e1

4.29deg. 7.16deg.

Stability during stance (knee flexion angle: maximal angle between 10 and 40% of gait cycle)

θ_err=∣θ_ref,e1−θ_meas,e1∣

4.30deg. 7.16deg.

Foot clearance (knee flexion angle: maximal angle)

θ_err=θ_ref,e1−θ_meas,e1

4.52deg. 7.54deg.