Table 3.

Energy consumption per unit cycle of each joint under two types of controls in the actual cooperative handling process.

Joint	Normal control	Parameterized optimization control	Reduction/%
	Energy expenditure/J
Left hip	31.1	25.4	18.33
Right hip	33.8	26.3	22.19
Left knee	27.9	22.5	19.35
Right knee	26.6	21.9	17.67
Left ankle	25.1	19.8	21.12
Right ankle	25.9	20.1	22.39
Total energy	170.4	136.0	20.19