Table 5.

Comparison of training data set size on joint torque estimation.

Model		25% training		90% training
		NRMSE	$R_a^2$	NRMSE	$R_a^2$
PBM	Mean	4.41%	0.81	2.32%	0.96
	STD	2.49%	0.09	0.59%	0.04
OLS	Mean	4.19%	0.80	2.19%	0.97
	STD	2.19%	0.10	0.58%	0.04
RLS	Mean	4.14%	0.82	2.07%	0.97
	STD	2.13%	0.08	0.51%	0.03
SVM	Mean	4.39%	0.85	2.02%	0.97
	STD	2.46%	0.09	0.92%	0.03
ANN	Mean	5.87%	0.73	2.34%	0.96
	STD	2.20%	0.20	0.61%	0.03
LWPR	Mean	6.41%	0.69	3.43%	0.87
	STD	3.14%	0.29	0.84%	0.07