Use of the Human Walking Gait Cycle for Assistive Torque Generation for the Hip Joint Exoskeleton

Table 3

Results from the proposed method of identifying walking intention.

No.	Left angle (°)	Right angle (°)	Chest angle (°)	Forward/reverse/initial	Gait cycle	Left phase	Right phase	Frame
1	0.49	0.49	0.53	2	101	Initial	Initial	0
2	0.49	0.49	0.53	2	101	Initial	Initial	0
3	0.47	0.49	0.53	1	100	Toe off	Loading response	1
4	0.44	0.49	0.52	1	100	Toe off	Loading response	1
5	0.39	0.5	0.48	1	101	Midswing	Midstance	2
6	0.36	0.5	0.43	1	101	Midswing	Midstance	2
7	0.33	0.5	0.4	1	101	Midswing	Midstance	2
8	0.3	0.51	0.38	1	101	Midswing	Midstance	2
9	0.28	0.52	0.36	1	110	Terminal swing	Terminal stance	3
10	0.25	0.53	0.33	1	110	Terminal swing	Terminal stance	3
11	0.23	0.54	0.28	1	111	Heel strike	Preswing	4
12	0.23	0.55	0.24	1	111	Heel strike	Preswing	4
13	0.24	0.56	0.23	1	111	Heel strike	Preswing	4
14	0.25	0.57	0.22	1	000	Loading response	Toe off	5
15	0.28	0.58	0.21	1	000	Loading response	Toe off	5
16	0.3	0.56	0.24	0	000	Loading response	Toe off	5
17	0.33	0.49	0.28	0	000	Loading response	Toe off	5
18	0.36	0.42	0.45	0	001	Midstance	Midswing	6
19	0.39	0.37	0.56	0	001	Midstance	Midswing	6
20	0.42	0.32	0.58	0	001	Midstance	Midswing	6
21	0.45	0.27	0.59	0	001	Midstance	Midswing	6
22	0.47	0.24	0.61	0	010	Terminal stance	Terminal swing	7
23	0.5	0.22	0.64	0	010	Terminal stance	Terminal swing	7
24	0.52	0.23	0.65	0	010	Terminal stance	Terminal swing	7
25	0.55	0.25	0.63	0	011	Preswing	Heel strike	8
26	0.58	0.25	0.61	0	011	Preswing	Heel strike	8
27	0.59	0.25	0.61	0	011	Preswing	Heel strike	8
28	0.57	0.26	0.59	0	011	Preswing	Heel strike	8
29	0.52	0.31	0.47	1	100	Toe off	Loading response	1
30	0.45	0.34	0.34	1	100	Toe off	Loading response	1
31	0.4	0.39	0.24	1	110	Toe off	Loading response	1
32	0.34	0.43	0.26	1	101	Midswing	Midstance	2
33	0.31	0.47	0.25	1	111	Midswing	Midstance	2
34	0.29	0.51	0.23	1	101	Midswing	Midstance	2
35	0.28	0.54	0.22	1	110	Terminal swing	Terminal stance	3
36	0.28	0.56	0.21	1	111	Heel strike	Preswing	4
37	0.28	0.58	0.2	1	111	Heel strike	Preswing	4
38	0.28	0.59	0.2	1	000	Loading response	Toe off	5
39	0.29	0.59	0.19	1	111	Loading response	Toe off	5
40	0.3	0.54	0.25	1	111	Loading response	Toe off	5
41	0.35	0.46	0.32	0	000	Loading response	Toe off	5
42	0.38	0.4	0.48	0	001	Midstance	Midswing	6
43	0.42	0.34	0.49	0	001	Midstance	Midswing	6
44	0.46	0.29	0.48	0	001	Midstance	Midswing	6
45	0.5	0.26	0.5	0	001	Midstance	Midswing	6
46	0.53	0.25	0.52	0	010	Terminal stance	Terminal swing	7
47	0.55	0.25	0.55	0	11	Preswing	Heel strike	8
48	0.58	0.26	0.58	0	11	Preswing	Heel strike	8
49	0.6	0.26	0.6	0	11	Preswing	Heel strike	8
50	0.6	0.26	0.6	0	11	Preswing	Heel strike	8
51	0.57	0.29	0.55	0	11	Preswing	Heel strike	8
52	0.5	0.33	0.46	1	100	Toe off	Loading response	1
53	0.44	0.36	0.35	1	100	Toe off	Loading response	1
54	0.39	0.4	0.36	1	100	Toe off	Loading response	1
55	0.34	0.44	0.36	1	100	Toe off	Loading response	1
56	0.31	0.48	0.34	1	101	Midswing	Midstance	2
57	0.29	0.52	0.34	1	101	Midswing	Midstance	2
58	0.29	0.54	0.33	1	110	Terminal swing	Terminal stance	3
59	0.29	0.56	0.31	1	110	Terminal swing	Terminal stance	3
60	0.28	0.58	0.27	1	111	Heel strike	Preswing	4
61	0.27	0.59	0.25	1	111	Heel strike	Preswing	4
62	0.3	0.59	0.25	1	111	Heel strike	Preswing	4
63	0.31	0.53	0.32	0	000	Loading response	Toe off	5
64	0.36	0.46	0.38	0	000	Loading response	Toe off	5
65	0.39	0.41	0.49	0	001	Midstance	Midswing	6
66	0.45	0.34	0.51	0	001	Midstance	Midswing	6
67	0.48	0.3	0.5	0	001	Midstance	Midswing	6
68	0.51	0.28	0.56	0	001	Midstance	Midswing	6
69	0.53	0.28	0.61	0	010	Terminal stance	Terminal swing	7
70	0.55	0.28	0.65	0	011	Preswing	Heel strike	8
71	0.56	0.29	0.67	0	011	Preswing	Heel strike	8
72	0.56	0.28	0.66	0	011	Preswing	Heel strike	8
73	0.55	0.29	0.66	0	011	Preswing	Heel strike	8
74	0.51	0.31	0.58	1	100	Toe off	Loading response	1
75	0.44	0.33	0.56	1	100	Toe off	Loading response	1
76	0.4	0.36	0.5	1	100	Toe off	Loading response	1
77	0.38	0.39	0.51	1	101	Midswing	Midstance	2
78	0.36	0.41	0.52	1	101	Midswing	Midstance	2
79	0.37	0.43	0.5	1	111	Midswing	Midstance	2