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

Table 4

Mean, median, minimum, and maximum values of the fraction of double support in the gait cycle. 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.

		Double support (% of ST)
		Mean	Median	value	Min/max
	PT	10.9	10.6	>0.1	10.0/12.8
S1	UE	10.1	10.1	N.R.	8.3/12.9
	1D	12.4	12.4	<0.05	11.3/13.1
	PT	10.1	10.5	>0.1	7.8/11.8
S2	UE	9.9	10.0	N.R.	8.6/10.7
	1D	10.9	10.8	<0.05	10.2/12.5
	PT	9.8	9.5	<0.05	8.2/13.8
S3	UE	7.3	6.8	N.R.	5.9/10.1
	1D	9.4	9.2	<0.05	8.1/11.1