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

Table 2

Mean, median, minimum, and maximum values of hip ROM for each of the 3 equipment states. Sagittal plane data is not available for subject 2 due to marker disappearance. Transverse plane data for subject 1 was rejected due to unauthorised movement of the torso. 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, and they are not relevant (N.R.) for the UE state itself.

		Sagittal ROM (°)				Frontal ROM (°)				Transverse ROM (°)
		Mean	Median	value	Min/max	Mean	Median	value	Min/max	Mean	Median	value	Min/max
S1	PT	113.3	113.6	<0.05	109.8/115.6	47.2	47.6	>0.1	39.5/51.7	—	—	—	—
	UE	117.4	117.1	N.R.	115.7/119.6	47.0	45.9	N.R.	43.8/54.4	—	—	—	—
	1D	96.5	96.2	<0.05	89.2/102.0	16.7	16.6	<0.05	14.5/18.3	—	—	—
S2	PT	—	—	—	—	50.8	50.9	>0.1	47.7/54.9	39.5	39.6	<0.05	38.4/40.8
	UE	—	—	—	—	50.1	50.8	N.R.	45.4/52.8	35.3	34.8	N.R.	32.6/37.4
	1D	—	—	—	—	23.7	23.9	<0.05	19.7/26.1	19.7	20.0	<0.05	14.7/24.2
S3	PT	115.5	115.7	0.05 < P < 0.1	113.5/117.8	72.7	61.9	>0.1	59.5/64.0	47.4	47.5	<0.05	43.1/50.6
	UE	117.6	118	N.R.	114.2/121.2	73.7	64.7	N.R.	57.5/69.5	45.1	45.9	N.R.	40.3/48.0
	1D	95.3	85.0	<0.05	81.8/112.5	26.9	26.7	<0.05	25.4/31.3	30.4	30.4	<0.05	26.0/32.6