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Table 2 Conditions for each case

From: Motion-tracking skill assist and power assist for sinusoidal motions with a semi-active assist mechanism using energy control

 

Attaching weight

Applying power assist

Applying skill assist

Condition 1

\(\times\)

\(\times\)

\(\times\)

Condition 2

\(\checkmark\)

\(\times\)

\(\times\)

Condition 3

\(\checkmark\)

\(\checkmark\)

\(\times\)

Condition 4

\(\checkmark\)

\(\checkmark\)

\(\checkmark\)