Table 3.
Summary of 74 trials in which cats walked 75% of the walkway.
| Walking property | Open loop controller | Hybrid-CPG controller | P-values | |
|---|---|---|---|---|
| Trial-based | N = 18 | N = 56 | ||
| Peak step lengtha | Mean ∓ SDc | 24.9 ∓ 8.4 | 21.8 ∓ 7.5 | 0.06e |
| Average velocity | Mean ∓ SDc | 0.22 ∓ 0.04 m s−1 | 0.21 ∓ 0.05 m s−1 | 0.62e |
| Number of stepsb | Mediand(Q1,Q3) | 7 (6, 9) | 9(8, 11) | 0.024f |
| Sum of forces | Mediand(Q1,Q3) | 15.1% BW (14.3, 18.7) | 18.4% BW (16.1, 20.0) | 0.10f |
| Step-based | N = 134 | N = 544 | ||
| Step cycle durationb | Mediand(Q1,Q3) | 1.48 s (1.15, 1.49) | 1.27 s (1.15, 1.49) | <.001f |
| Peak step force | Mediand(Q1,Q3) | 17.1% BW (14.7, 20.3) | 17.0% BW (14.8, 20.1) | 0.69f |
| Successful steps | (%) (success/total) | 49% (65/134) | 68% (372/544) |
a
Step length was normalized against the distance from the ankle to the metacarpophalangeal joint.
b
Significant difference between trials with open loop control alone and with combined open and closed loop control.
c
The means and SD are shown for normally distributed data.
d
The medians and first and third quartiles (Q1,Q3) are shown for non-normally distributed data.
e
Unpaired student's t-test was used for normally distributed data.
f
Independent samples median test (non-parametric) was used for non-normally distributed data.
BW = Body weight.