Table 2.

Cosine similarities for all participants and walking trials. Notice that HASSIST mode presented four synergies with relatively high cosine similarities values, no merged and only one undefined synergy (values in italic).

			Walking conditions
	Without exoskeleton		With exoskeleton
			Control modes
Participants	NAT		TOT		ADAPT		NEUTRAL		HASSIST		HRESIST
	R	L	R	L	R	L	R	L	R	L	R	L
Synergy 1
P1	0.71	0.68	0.88	0.78	0.91	∼#4	0.78	∼#4	0.94	0.92	0.78	∼#4
P2	0.76	0.81	0.73	∼#3	0.63	∼#3	0.75	∼#4	0.85	0.81	0.8	0.69
P3	0.83	0.76	∼#4	∼#4	∼#4	0.56	0.63	0.64	0.83	0.82	0.76	0.63
Synergy 2
P1	0.69	0.81	0.81		0.79	0.8	0.74	0.83	0.75	0.83	0.74	0.92
P2	0.85	0.75	0.82	0.78	0.81	∼#4	0.8	0.92	0.9	0.91	0.94	0.85
P3	0.82	0.86	0.97	0.74	0.91	0.75	0.94	∼#4	0.84	0.81	0.92	0.83
Synergy 3
P1	0.87	0.67	∼#2	0.67	∼#1	0.82	∼#4	0.79	0.78	0.77	∼#1	0.8
P2	0.91	0.92	0.96	0.92	0.94	0.87	0.9	0.91	0.95	0.95	0.88	0.93
P3	0.84	0.86	0.85	0.92	0.94	0.87	0.84	0.91	0.89	0.88	0.83	0.87
Synergy 4
P1			0.94	0.82	0.91	0.8	0.81	0.8	0.9	0.87	0.8	0.68
P2			0.69	0.86	0.68	0.7	0.87	0.87	0.92	0.93	0.89	0.88
P3			0.86	0.84	0.88	0.85	0.78	0.71	0.87	0.78	0.77	0.84
UD Synergy
P1			X		X	X	X	X			X	X
P2				X		XX		X				X
P3			X	X	X	X		X		X	X	X

∼#X = synergy merged with synergy number X.