Table 3. The performance indexes of the two controllers.

	OpenSim with PD controller		PD controller only
ERROR	Hip error	Knee error	Hip error	Knee error
RMSE	1.7 × 10−4	1.6 × 10−4	1.4 × 10−4	1.5 × 10−4
ISE	0.010	0.009	0.008	0.009
ITSE	0.003	0.003	0.004	0.003
IAE	0.1219	0.1164	0.1105	0.1100
ITAE	0.0845	0.0790	0.1076	0.0813