Table 3. Qualitative Comparison of the Three Methods.

SSCM refers to the traditional method of Steady-State Cost Mapping. Our methods rely on the estimation of Instantaneous Cost. ICM refers to the Instantaneous Cost Mapping and ICGS to the Instantaneous Cost Gradient Search.

	SSCM	ICM	ICGS
Approximate walking-time (one parameter)	1 hr	8 min	1 hr
Requires real-time energetic data	No	No	Yes
Requires real-time parameter variation	No	Yes	Yes
Type of minimum identified	Global	Global	Local
Assumes shape of cost function	Yes	Yes	No
Time constant sensitivity	Very low	High	Moderate
Usefulness with many coupled parameters	Very Low	Limited	High
Allows for dynamic subject adaptation	No	No	Yes