Research Article
Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation
Table 2
Input patterns model verification using LS and RLS prediction methods.
| | LS and RLS prediction between the input patterns and the joint angles | | PMA actuators | LS method | RLS method | | 1st order | th order | 1st order | th order |
| | Monoarticular (hip)-Anterior PMA | Yes (proportional) | — | Yes (proportional) | — | | Monoarticular (hip)-Posterior PMA | Yes (inversely proportional) | — | Yes (inversely proportional) | — | | Monoarticular (knee)-Anterior PMA | Yes (proportional) | — | Yes (proportional) | — | | Monoarticular (knee)-Posterior PMA | Yes (inversely proportional) | — | Yes (inversely proportional) | — | | Biarticular (hip)-Anterior PMA | No | No | No | No | | Biarticular (hip)-Posterior PMA | No | No | No | No |
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