Skip to main content

Table 4 Mean ± SD of average intra-subject variability of hip, knee and ankle flexion-extension angle categorized by speed and walking modality

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

 

Hip [Deg]

Knee [Deg]

Ankle [Deg]

Condition

V1

V2

V3

V1

V2

V3

V1

V2

V3

NW

1.7 ± 0.6

1.8 ± 0.5

1.5 ± 0.5

2.2 ± 0.6

2.2 ± 0.5

1.6 ± 0.2

1.7 ± 0.4

1.7 ± 0.3

1.4 ± 0.2

TM

2.0 ± 0.4

1.8 ± 0.4

1.8 ± 0.7

2.2 ± 1.4

2.2 ± 0.5

2.4 ± 1.6

2.1 ± 0.7

1.8 ± 0.3

1.6 ± 0.3

AM1

2.2 ± 0.7

1.9 ± 0.2

1.8 ± 0.3

2.8 ± 0.9

2.4 ± 0.6

2.0 ± 0.4

1.9 ± 0.5

1.8 ± 0.3

1.5 ± 0.2

AM2

2.4 ± 0.3

2.1 ± 0.5

1.8 ± 0.6

3.4 ± 0.6

2.9 ± 0.9

2.3 ± 0.7

2.2 ± 0.2

2.0 ± 0.2

1.7 ± 0.4

AM3

2.2 ± 0.3

2.1 ± 0.3

2.4 ± 1.0

2.9 ± 0.4

2.7 ± 0.6

2.4 ± 0.7

2.1 ± 0.4

1.8 ± 0.4

1.7 ± 0.4

  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)