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Table 5 Mean ± SD of pHR-ID categorized by speed and walking modality

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

  Pelvis [mm] Right thigh [mm]
Condition V1 V2 V3 V1 V2 V3
NW 2.4 ± 1.2 2.1 ± 0.9 2.2 ± 0.8 - - -
TM 2.2 ± 0.8 2.0 ± 0.6 2.4 ± 0.8 4.0 ± 0.6 4.4 ± 0.7 5.1 ± 1.0
AM1 2.2 ± 0.8 3.1 ± 2.2 2.6 ± 1.3 5.1 ± 1.7 5.5 ± 1.5 6.1 ± 1.9
AM2 2.8 ± 1.2 3.0 ± 1.6 3.2 ± 2.2 5.3 ± 1.3 5.8 ± 1.6 6.2 ± 1.7
AM3 2.8 ± 1.4 2.7 ± 1.3 3.1 ± 2.0 4.9 ± 1.1 5.4 ± 0.6 6.3 ± 1.2
  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)