[Retracted] Robust LQR-Based Neural-Fuzzy Tracking Control for a Lower Limb Exoskeleton System with Parametric Uncertainties and External Disturbances

Table 5

Comparative performance analysis of the proposed control over the contrast control.

Joint name	RMSE (ERL-SM) (deg)	RMSE (RLQR-NF) (deg)	PI (%)
Case I: with a 20% increment in mass parameters and a trigonometric form of external disturbances
Hip	0.578	0.283	51.04
Knee	0.672	0.420	37.50
Ankle	0.321	0.224	30.21
Case II: with a 30% increment in mass parameters and a random form of external disturbances
Hip	0.613	0.287	53.19
Knee	0.742	0.434	41.51
Ankle	0.334	0.228	31.73