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

ROBOMECH Journal

Table 4 Standard deviation of the phase difference \(\sigma _\psi\)

	Subject A	B	C	D	E
Standard deviation of the phase difference (rad)
No assist without weight	0.213	0.269	0.466	0.262	0.332
No assist with weight	0.229	0.243	0.356	0.264	0.330
Only power assist	0.222	0.263	0.598	0.305	0.376
Power assist with skill assist	0.200	0.230	0.448	0.291	0.303