Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point

Table 1

Average (avg) and standard deviation (std) values of minima and maxima of the HJC differences for both single support (SS) and double support (DS) phases.

	Horizontal		Vertical
	Avg (mm)	Std (mm)	Mean (mm)	Std (mm)
Min. (SS)	−4.285	0.9757	−3.1889	2.2583
Min. (DS)	−9.8264	0.5699	−5.0576	1.0838
Max. (SS)	7.9425	7.0614	2.1266	5.4086
Max. (DS)	8.6154	3.3724	6.6919	2.7135