Generating Human-Like Velocity-Adapted Jumping Gait from sEMG Signals for Bionic Leg’s Control

Table 3

Joint angles estimation RMS error for six reference gait patterns.

Joint	RMS error (%)
	Gait 1	Gait 2	Gait 3	Gait 4	Gait 5	Gait 6
Ankle	0.97	3.03	1.90	1.94	4.34	1.41
Knee	1.13	5.17	1.84	1.94	5.07	1.53
Hip	4.62	2.06	4.94	6.75	3.75	4.22