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Table 1 Mean ± SD of spatio-temporal parameters categorized by speed and walking modality

From: Physical human-robot interaction of an active pelvis orthosis: toward ergonomic assessment of wearable robots

  Step length [% of stride length] Stance time [% of gait cycle] Cadence [Steps/min]
Walking condition V1 V2 V3 V1 V2 V3 V1 V2 V3
NW 51 ± 1 50 ± 1 50 ± 1 71 ± 1 68 ± 1 66 ± 1 78 ± 9 94 ± 8 109 ± 8
TM 50 ± 2 50 ± 1 50 ± 1 71 ± 1 68 ± 1 66 ± 1 79 ± 7 94 ± 7 106 ± 8
AM1 50 ± 1 50 ± 1 50 ± 1 72 ± 1 68 ± 1 66 ± 1 78 ± 12 93 ± 9 107 ± 9
AM2 50 ± 1 50 ± 1 50 ± 1 72 ± 1 69 ± 1 67 ± 0 80 ± 13 94 ± 11 108 ± 9
AM3 49 ± 2 50 ± 1 50 ± 1 71 ± 1 69 ± 1 67 ± 1 80 ± 13 95 ± 10 108 ± 9
  1. Condition coding: slow speed (V1), self-selected speed (V2), fast speed (V3), natural walking –no APO- (NW), transparent mode -APO shadows the wearer- (TM), low assistance (AM1), moderate assistance (AM2), high assistance (AM3)