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On the other hand, the elderly walking and impaired walking cases were simulated with a wearable simulation kit as shown in Figures 10(b)-10(c).
Since the robot can track the elderly or impaired walking patterns easier compared to normal walking and the speed of the targeted subjects is slower than 3 km/hr, which is the lower limit of self-paced normal walking, the experiments regarding robot velocity and inflation ratio were done with normal walking pattern only.
For the experiments, first, data were recorded from two subjects with their normal walking and two types of simulated walking patterns such as impaired and elderly walking, where elderly and impaired walking conditions were simulated by wearing tools as demonstrated in Figure 10.

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