Table 1.

Comparison between user adaptive, neural network predictive control (NNPC), and Q-learning control.

Walking speed (km/h)	NRMSE(%)
	User-adaptive	NNPC	Q-learning
2.4	2.70	0.81	0.78*
3.6	3.65	0.61*	0.88
5.4	3.46	2.42	0.52*
Average	3.27	1.28	0.73*

^*Best performance.