Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation

Table 4

Pearson coefficient of determination (𝑟²) for co-contraction model based P and PP controllers.

Pearson coefficient of determination (𝑟^2) for P and PP Controllers
Cocontraction model based	Hip angle CC value				Knee angle CC value
	4 s GC	3 s GC	2 s GC	1 s GC	4 s GC	3 s GC	2 s GC	1 s GC
P controller	0.9139	0.7921	0.4761	0.0196	0.6241	0.4356	0.09	0.1444
PP controller	0.9274	0.8649	0.7744	0.0625	0.7744	0.5184	0.16	0.1681