Robust walking control of a lower limb rehabilitation exoskeleton coupled with a musculoskeletal model via deep reinforcement learning

Table 4 Gait symmetry analysis

Case	Hip	Knee	Ankle dorsi/plantar	Ankle inver/ever
Passive	0.86	1.08	0.95	0.78
Healthy	0.92	1.12	1.04	0.86
Muscle weakness	0.82	1.06	0.94	0.56
Left hemiparesis	1.49	1.03	1.08	1.46

ISSN: 1743-0003