Table 10.

Summary of experimental results (Downhill: v = ZO, $S_g$ = NS).

Timestamp	Sub plot	Grip force	Posture	Control remedy
13 s	4th	$f_f$ = M, $f_d$ = M	Normal walking	NS → ZO
Analysis: Keep the same state to maintain “normal walking” Afterwards: Walker keep moving forward with a normal speed (13 s~18 s) Evaluation: Meet expectations or not. Answer: YES
Timestamp	Sub plot	Grip force	Posture	Control remedy
18 s	5th	$f_f$ = M, $f_d$ = S	Leaning forward	NS → NL
Analysis: Need more backward force to regain stability Afterwards: Walker slows down and moves near to the user (18 s~20 s) Evaluation: Meet expectations or not. Answer: YES