. Author manuscript; available in PMC: 2019 Oct 1.

Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2018 Sep 17;26(10):1985–1993. doi: 10.1109/TNSRE.2018.2870756

Table II.

Experimental Walking and Exoskeleton Information

Participant	Exo Walk Time (min)	Gait Speed (m/s)	Torque RMSE (Nm•kg⁻¹)^b		Exoskeleton Mass (% Body Mass)	Peak Torque^a (Nm•kg⁻¹)
Participant	Exo Walk Time (min)	Gait Speed (m/s)	Exo-Assisted	Zero-T orque-Ctrl	Possible	Provided
PI	113.6	0.60	0.054	0.015	6.9	0.44	0.29
P2	108.4	0.55	0.035	0.017	4.1	0.40	0.24
P3	107.7	0.65	0.044	0.036	11.8	0.76	0.25
P4	112.1	1.10	0.045	0.021	4.3	0.39	0.24
P5	208.1	0.95	0.030	0.015	5.3	0.35	0.26

Nominal possible torque represents the peak amount of torque capable of being provided by the exoskeleton. Nominal provided torque represents the setpoint used during the trial that resulted in the lowest metabolic cost of transport.

Torque RMSE reports the root-mean-squared error between the desired torque and the measured torque.