Table 4.
ROM and RMSE metrics (mean ± std. dev.) of the angle estimations provided by the Exoskeleton and EIKPE. Values in bold indicate statistically significant differences in the accuracy of the approaches (p value ≤ 0.05).
| Metric | Exoskeleton | EIKPE | Improvementa |
|---|---|---|---|
| RMSE of SFE angle | 8.4 ± 4.7 | 3.9 ± 0.9 | 53% |
| ROM error of SFE angle | 18.0 ± 11.6 | 5.7 ± 2.8 | 68% |
| RMSE of SAA angle | 8.2 ± 4.6 | 3.3 ± 1.9 | 60% |
| ROM error of SAA angle | 16.9 ± 10.3 | 5.6 ± 4.7 | 67% |
| RMSE of SIER angle | 16.2 ± 6.6 | 6.5 ± 3.1 | 60% |
| ROM error of SIER angle | 17.4 ± 12.6 | 6.9 ± 5.6 | 60% |
| RMSE of EFE angle | 6.6 ± 1.4 | 5.8 ± 2.7 | 13% |
| ROM error of EFE angle | 8.8 ± 5.5 | 5.7 ± 3.7 | 35% |
aError reduction with respect to the Exoskeleton by using EIKPE.