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Average joint angles measured during single trials with and without sensory feedback (walking at approximately 0.25 m s−1). The values were measured in degrees with the ratio of measured joint angles to typical joint angles (walking at 0.67 m s−1).
| Joint angle range (typical) | Open loop controller (ratio) | Hybrid-CPG controller (ratio) |
|---|---|---|
| Hip (49) | 27 (0.55) | 24 (0.49) |
| Knee (38) | 43 (1.1) | 39 (1.0) |
| Ankle (45) | 96 (2.1) | 68 (1.5) |
