Experimental Results

sub_i: refers to i-th subjectv1, v2, and v3 refer to low, mid, and high treadmill speeds.marker: vicon marker positionimu: imu raw sensor dataemg: raw electromyography datagrf: ground reaction forcenoexo: indicates no exoskeleton datasetnormal data:exo: exoskeleton recorded data including (QHL: left hip position, QHR: right hip position, QKR: right knee position, QKL: left knee position, WHR: right hip velocity, WHL: left hip velocity, WKR: right knee velocity, WKL: left knee velocity, FHR: right hip torque, FHL: left hip torque, FKR: right knee torque, FKL: left knee torque, EHL: left hip energy, EHR: right hip energy, EKR: right knee energy, EKL: left knee energy)zero torque indicates passive modenon-zero torque indidicates active modeno-grf indicates that the file does not contain grf datacomparison data:exo: exoskeleton recorded data including (Pos: position, Vel: velocity, Tor: torque, Ene: virtual energy, Vir: virtual energy, hr: right hip, hl: left hip, kr: right knee, kl: left knee, Phase: VER limit cycle phase)zero torque indicates passive modectrl_type = 1 is VER controllerctrl_type = 2 is PBP controllerctrl_type = 3 is a state dependent disturbance to prevent subject bias to controller ctrl_type = 0 is passive condition