Table 3.

Levels of assistance in first and second training phases

	First phase	Second phase
	Level 0	Level 1	Level 2	Level 3	Level 4	Level 5	Level 6
Hips	P	HI	MI	MI	MI	LI	LI
Knees	P	P	P	HI	MI	MI	LI

The assistance on knee joint always went behind the assistance on hip, due to the knee movement during gait is performed following inertial forces, assigning to the hip movement higher importance. A higher level is implemented if the session performance (real motion versus desired pattern) is bigger than 85%

P position, HI high impedance, MI medium impedance, LI low impedance