Motion Prediction of Human Wearing Powered Exoskeleton

Table 1

Prediction comparison between different methods with various human motions via mean relative error and standard deviation. Each motion type has 10 datasets. The best performance is highlighted in boldface.

Methods	Walking on ground		Walking on slope		Walking on stairs
	MRE	SD	MRE	SD	MRE	SD
Res-GRU	0.0875	0.0217	0.0995	0.0212	0.1322	0.0267
LSTM-3LR	0.1398	0.0128	0.1658	0.0143	0.2078	0.0466
GPLVM-NAR	0.0197	0.0057	0.0323	0.0043	0.054	0.0058