Table 1.

List of features used for the algorithm

Signal	Symbol	Unit	Group	Data source
Robot segment angles		deg	Robot performance data	Motion capture
Right motor current		mA	Robot performance data	Robot
Left leg state (stance or swing)		—	State data	Robot
Right leg state (stance or swing)		—	State data	Robot
Chosen mode of assistance		—	Robot performance data	Robot
Assistance level selected		—	Robot performance data	Robot
X, Y, Z axes of gyroscope		mdeg/s	Human motion data	Robot
X, Y, Z axes of accelerometer		m/s2	Human motion data	Robot
Right motor hall sensor counts		count	Human motion data	Robot

Note. The signal units reported in the table show the convention used as an input into the algorithm.