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Tracking performance comparison for contrast and proposed control schemes.
RMSE,  (TSM) |
RMSE,  (FTSM) |
RMSE,  (IFTSM) |
PTP (%) (TSM, IFTSM) |
PTP (%) (FTSM, IFTSM) |
|
|---|---|---|---|---|---|
| Hip | 0.88 | 0.59 | 0.52 | 40.05 | 10.64 |
| Knee | 3.65 | 2.03 | 1.68 | 53.97 | 17.24 |
| Ankle | 0.67 | 0.43 | 0.36 | 44.79 | 14.12 |
