Table 12.

Summary of experimental results (Uphill v = ZO, $S_g$ = PS).

Timestamp	Sub plot	Grip force	Posture	Control remedy
2 s~3 s	1st, 2nd	$f_f$ = S, $f_d$ = S	Standstill → n.w.	ZO → PS
Analysis: Need some forward force to attain “normal walking” Afterwards: Walker moves forward with a normal speed (4 s~7 s) Evaluation: Meet expectations or not. Answer: YES
Timestamp	Sub plot	Grip force	Posture	Control remedy
7 s	4th	$f_f$ = M, $f_d$ = L	Normal walking	NS → NL
Analysis: More forward force is required to maintain normal walking Afterwards: Walker moves forward with a normal speed (8 s~10 s) Evaluation: Meet expectations or not. Answer: YES