Table 2.

Finite state controller switching conditions

State machine switching conditions
Transition	Condition
S1 to S5	The user leans forward and pushes up
S5 to S2	Hip and knee joints meet the standing (S2) configuration
S2 to S7	The user leans forward and left
S7 to S3	Hip and knee joints meet the right forward (S3) configuration
S3 to S8	The user leans forward
S8 to S4	Hip and knee joints meet the left forward (S4) configuration
S4 to S9	The user leans forward
S9 to S3	Hip and knee joints meet the right forward (S3) configuration
S3 to S10	The user pauses for a predetermined period prior to leaning forward
S10 to S2	Hip and knee joints meet the standing (S2) configuration
S2 to S6	The user leans backward
S6 to S1	A predetermined time has lapsed
S2 to S11	The user leans forward and right
S11 to S4	Hip and knee joints meet the left forward (S4) configuration.
S4 to S12	The user pauses for a predetermined period prior to leaning forward
S12 to S2	Hip and knee joints meet the standing (S2) configuration