Bilateral, Misalignment-Compensating, Full-DOF Hip Exoskeleton: Design and Kinematic Validation

Table 3

Mean, median, minimum, and maximum values of pelvic obliquity and pelvic rotation amplitudes during walking for each of the subjects in each of the 3 equipment states. values are unitless and reflect the probability that the median value of the prototype (PT) and 1-DOF (1D) trial does not differ from that in the unequipped (UE) trial. As values reflect the result of a comparison with the UE state data, they are not relevant (N.R.) for the UE state itself.

	Pelvic obliquity (°)				Pelvic rotation (°)
	Mean	Median	value	Min/max	Mean	Median	value	Min/max
PT	2.4	2.8	>0.1	1.5/3.3	5.0	4.4	>0.1	1.5/9.4
S1 UE	2.5	2.6	N.R.	1.6/3.6	5.5	5.8	N.R.	0.1/8.9
1D	2.0	2.0	<0.05	0.8/2.6	7.5	8.0		2.4/9.9
PT	4.9	5.9	>0.1	1.8/7.4	6.7	6.6	>0.1	4.2/10.7
S2 UE	5.8	6.2	N.R.	4.1/8.0	6.3	6.1	N.R.	3.0/10.9
1D	2.3	2.4	<0.05	1.8/2.9	7.3	7.1	>0.1	4.3/10.0
PT	5.3	4.9	>0.1	4.0/5.8	4.5	5.4	>0.1	1.5/6.9
S3 UE	5.7	4.2	N.R.	3.3/8.7	4.2	4.2	N.R.	3.1/6.2
1D	3.5	2.9	<0.05	2.4/4.9	7.1	6.4	<0.05	5.1/9.8