Table 1. Types of assistance technique for PAFOs.
| DOF | Duty ratio [%] | Abbr. | PAM1 | PAM2 | |||||
|---|---|---|---|---|---|---|---|---|---|
| PAM1 | PAM2 | fpeak[N] | tass[%] | tppo[%] | fpeak[N] | tass[%] | tppo[%] | ||
| 1 | 0 | 0 | 1 DOF UNP | - | - | - | - | - | - |
| 30 | 0 | 1 DOF A | 59.73 (±25.47) | 21.3 (±6.8) | 47.8 (±3.8) | - | - | - | |
| 60 | 0 | 1 DOF B | 93.51 (±20.92) | 15.9 (±4.6) | 46.0 (±6.3) | - | - | - | |
| 90 | 0 | 1 DOF C | 132.42 (±22.29) | 12.1 (±3.4) | 43.6 (±11.0) | - | - | - | |
| 2 | 0 | 0 | 2 DOF UNP | - | - | - | - | - | - |
| 30 | 0 | 2 DOF A1 | 60.03 (±19.40) | 21.5 (±9.1) | 48.5 (±4.3) | - | - | - | |
| 30 | 30 | 2 DOF A2 | 20.76 (±13.40) | 18.9 (±6.9) | 48.5 (±3.4) | 79.06 (±26.06) | 27.8 (±6.6) | 49.6 (±3.8) | |
| 60 | 0 | 2 DOF B1 | 110.08 (±33.43) | 17.1 (±3.8) | 51.4 (±4.4) | - | - | - | |
| 60 | 60 | 2 DOF B2 | 57.45 (±38.04) | 17.5 (±5.0) | 48.9 (±4.4) | 76.21 (±24.45) | 23.1 (±4.4) | 49.9 (±5.4) | |
| 90 | 0 | 2 DOF C1 | 141.97 (±64.99) | 14.0 (±5.5) | 50.3 (±4.2) | - | - | - | |
| 90 | 90 | 2 DOF C2 | 114.83 (±57.11) | 14.5 (±6.9) | 47.6 (±7.6) | 60.83 (±18.87) | 26.9 (±9.5) | 47.1 (±6.0) | |
| 90 | 90 | 2 DOF C3 | 82.93 (±61.25) | 17.8 (±8.2) | 48.1 (±5.4) | 107.30 (±22.41) | 16.6 (±4.2) | 49.6 (±3.9) | |
fpeak, tass, tppo mean magnitude of peak force, assistance timing and positive power onset, respectively. And the values in parentheses indicate standard deviations.