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Phase durations (in seconds) for all three phases for all optimal control problem (OCP) formulations
| OCP | Human only | Human with exoskeleton | ||||||
|---|---|---|---|---|---|---|---|---|
| Phase 1 (s) | Phase 2 (s) | Phase 3 (s) | Total (s) | Phase 1 (s) | Phase 2 (s) | Phase 3 (s) | Total (s) | |
| LSQ | 1.34 | 0.12 | 1.42 | 2.88 | 1.34 | 0.12 | 1.42 | 2.88 |
| CLBLcost | 1.21 | 0.14 | 1.00 | 2.35 | 1.60 | 0.14 | 1.06 | 2.80 |
| PLBLcost | 1.22 | 0.14 | 1.19 | 2.55 | 1.60 | 0.14 | 1.31 | 3.04 |
| HYBcost | 1.25 | 0.14 | 1.19 | 2.58 | 1.53 | 0.14 | 1.10 | 2.77 |
