Volition-adaptive control for gait training using wearable exoskeleton: preliminary tests with incomplete spinal cord injury individuals

Table 2 Detailed analysis of the results obtained with the FSM-based control model

Patient ID	Session	Gait trials	Number of	Stiffness (Nm/deg)		Flexion angles (deg)		Response time ^b
		performed	trials missed ^a	LK	RK	LK	RK	(s)
	1	20	0	80	80	49±2	53±1	-
P01	2	24	10	83±3	82±3	48±1	54±2	0.82±0.66
	3	24	12	81±5	81±2	49±1	54±1	0.85±0.63
	1	40	0	80	80	50±2	55±3	-
P02	2	2 ^c	0	83±3	84±4	48±2	55±2	0.92±0.24
	3	25	4	82±5	82±4	50±1	54±2	0.66±0.41
	1	27	0	80	80	49±1	50±2	-
P03	2	7 ^c	0	83±2	83±2	47±2	50±1	0.89±0.14
	3	23	8	81±3	81±2	49±1	51±2	0.93±0.76
	1	32	0	80	80	49±2	53±2	-
P04	2	9	13	83±3	84±4	48±1	53±2	1.18±0.25
	3	19	10	82±5	82±3	49±2	55±2	0.81±0.56

LK- Left Knee; RK - Right Knee
Mean = averaged across the session, SD = Standard deviation
Session 1 was performed with the Fixed stiffness and Manual trigger; Session 2 & 3 with variable stiffness and BMI trigger
^aNumber of trials missed = Total trials-gait trials performed
^bResponse time = Onset of BMI trigger- Movement Attempt state
^cTrials were interrupted due to temporal restrictions of the patient

ISSN: 1743-0003