Mandatory Requirements
M.P.1 Measure user’s pelvic velocity to an accuracy of 0.3 m/s
M.P.2 Measure user’s pelvic orientation within ± 10 °
M.P.3 Measure user’s hip joint motion within ± 10 °
M.P.4 Determine the correct leg in swing 70 % of the time
M.P.5 Determine desired foot placement within 100 ms after taking off
M.P.6 Plan optimal leg trajectory within 120 ms after taking off
M.P.7 Determine compensatory torque response within 150 ms after taking off
M.P.8 Apply torque to achieve desired trajectory with <0.2 m error between the desired and actual trajectory