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Global estimation performance metrics.
| Error metric | Exoskeleton | EIKPE | Improvementa |
|---|---|---|---|
| Global angle RMSE (deg.) | 10.5 | 5.1 | 52% |
| Global ROM error (deg.) | 15.3 | 6.0 | 60% |
| MAE in A parameter (deg.) | 24.5 | 10.1 | 59% |
| MAE in B parameter | 0.52 | 0.22 | 57% |
| MAE in R 2 parameter | 0.21 | 0.11 | 49% |
aError reduction with respect to the Exoskeleton by using EIKPE.
