Sess. | Trial | P | eLR | OnT | PT | OffT | BSwT | POTq |
|---|
1st | NW | - | - | - | - | - | - | - |
| | ZT | | | | | | | |
2nd | NW2 | - | - | - | - | - | - | - |
| | ON10 | 40% | 10% | 10% | 50% | 70% | 75% | 0.29 Nm/kg |
| | ON20 | | | 20% | | | | |
| | ON36 | | | 36% | | | | |
3 rd | NW3 | - | - | - | - | - | - | - |
| | PR20 | 20% | 10% | 20% | 50% | 70% | 75% | 0.29 Nm/kg |
| | PR40 | 40% | | | | | | |
| | PR60 | 60% | | | | | | |
- NW stands for normal walking trial, with number indicating the session; ZT stands for zero torque (i.e., unassisted) walking trial; ON and PR indicate assisted walking trials, with the number indicating the push-off onset time (for ON) and spring pre-compression level (for PR) used. The assistance parameters used during the assisted walking trials are given in the table. The definition of the assistance parameters is shown in Fig. 2. P indicates the spring pre-compression, thus, the stiffness level of the actuator.
