Table 4.

Results of uncompensated and compensated responses for the two gait applications.

	Reference	Uncompensated		Compensated
	Angle	Angle	Error	Angle	Error
$p_1$	${10}^{\circ }$	${1.40}^{\circ }\left({0.50}^{\circ }\right)$	${8.60}^{\circ }$	${4.48}^{\circ }\left({0.78}^{\circ }\right)$	${5.52}^{\circ }$
$p_2$	${50}^{\circ }$	${11.85}^{\circ }\left({0.60}^{\circ }\right)$	${38.15}^{\circ }$	${44.80}^{\circ }\left({5.44}^{\circ }\right)$	${5.20}^{\circ }$
v	$-{10}^{\circ }$	$-{35.54}^{\circ }\left({6.64}^{\circ }\right)$	${25.54}^{\circ }$	$-{11.06}^{\circ }\left({0.60}^{\circ }\right)$	${1.06}^{\circ }$