Table 2.

Statistical performance of the controller across all subjects and trials.

Subject/controller	Trials (n)	Hip Joint (N·m/s) Mean ± Std	Knee joint (N·m/s) Mean ± Std
Subject P01	20	5.2 ± 0.3	6.2 ± 0.4
Subject P02	20	5.4 ± 0.4	6.8 ± 0.5
Subject P03	20	5.1 ± 0.3	6.4 ± 0.4
Subject P04	20	5.2 ± 0.3	6.9 ± 0.5
Subject P05	20	5.5 ± 0.4	6.6 ± 0.4
All (proposed DRL-PD)	100	5.3 ± 0.3	6.6 ± 0.4
Baseline (Std. PD [9])	-	12.5	15.8