Table 5.

Comparison of adaptation time in different studies

Ref.	Control	Ul / Bl	Onset	Peak	Parameter	Adaptation
			timing	torque		time
						(nth session)
Cain, 2007	PMc	Ul	25%	0.6 Nm/kg	kinematics	28 min (1)
[35] △	(SOL)					7 min (2)
					SOL	18 min (1)
						5 min (2)
	P-Bc	UI	25%	0.6 Nm/kg	kinematics	28 min (1)
						7 min (2)
					SOL	18 min (1)
						4 min (2)
Galle, 2013	P-Bc	BI	43%	/	kinematics	4 min (1)
[43] ♢					metab. cost	19 min (1)
Gordon, 2007	PMc	UI	27%	0.5 Nm/kg	kinematics	24 min (1)
[31] △	(SOL)					6 min (2)
					SOL	24 min (1)
						6 min (2)
Kao, 2010	PMc	Ul	15%	0.7 Nm/kg	SOL	>30 min (1)
[33] △	(SOL)					>30 min (2)
Kinnaird, 2009	PMc	UI	/	0.6 Nm/kg	kinematics	25 min (1)
[34] △	(MG)					6 min (2)
					MG	22 min (1)
						5 min (2)
					SOL	19 min (1)
						4 min (2)
Koller, 2015	Ag-PMc	Bl	11%	0.6 Nm/kg	metab. cost	<30 min (1)
[40] △	(SOL)					<30 min (2)
						<30 min (3)
Koller, 2017	Ag-PMc	BI	/	/	metab. cost	<90 min
[41] △	(SOL)					(30 min x (3))
Sawicki, 2008	PMc	Bl	/	0.5 Nm/kg	metab. cost	∼90 min
[36] △	(SOL)					(30 min x (3))

The adaptation time for ankle kinematics, muscle activity, and metabolic cost of walking for healthy users with respect to the onset timing (reported as a percentage of the gait time) and the peak torque provided by the PAFO. The works presented by Sawicki et al. [36] and Koller et al. [40, 41] are included, but they reported on whether the subjects reached a steady state without measuring the exact adaptation time

PMc, Ag-PMc: Proportional myoelectric controller and adaptive gain PMc, P-Bc: Phase-based controller; SOL, MG: Soleus and medial gastrocnemius muscle; Ul, Bl: Uni-/bi-lateral PAFO. Symbols (△,♢) indicate studies performed by the same research group on similar actuation setups. Symbols are consistent between tables. In the works in which different experiments were performed (for example, different parameters) the common information between the experiments (for example, same control strategy) is reported only once