Table 4. Comparison of moment error values reported in the literature with moment error values reported in this study.

Other EMG-driven studies not indicated [12,16–19] have prediction errors greater than those listed in this table or use a variety of activities for calibration and/or testing and are therefore disqualified from comparison. For the knee and ankle joints, the studies shown calibrate and test their models using only gait data. Sartori et al. 2014 was the only available EMG-driven model of the hip, and was calibrated using a variety of activities.

	Literature		This Study Single-DOF		This Study Multi-DOF
DOF	Single-DOF	Multi-DOF	NGA	WGA	NGA	WGA
Hip FE	171	261	4.42	3.87	6.08	4.58
Hip AA	9.71	161	6.39	4.02	7.56	4.41
Knee FE	7.802	7.61	4.61	4.27	5.70	4.76
Ankle PDF	6.033	161	6.51	4.70	7.37	5.56
Ankle IE	—	—	2.96	2.36	4.53	3.62

¹Sartori et al. [14] MAE (values estimated from figures since values for walking only were not explicitly stated)

²Kumar et al. [15] root mean square error (RMSE)

³Bogey et al. [13] RMSE