Additional file 4 of Active robotic assistance for standing and sitting: experimental evaluation of handle trajectories

Additional file 4: Horizontal Handle Force for Different Assistance Trajectories in Standing; Description: peak absolute horizontal force applied by both handles during standing up normalized by body weight for the different assistance trajectories (columns: SH, IC, IL, ST, SS) and all 15 participants (rows) (Eq. 9, $$\overline{F}_{h,max}$$ , Table 6).