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Table 3 Estimated model parameters and goodness-of-fit

From: Feedback control of heart rate during robotics-assisted tilt table exercise in patients after stroke: a clinical feasibility study

ID

k [bpm/W]

\(\tau\) [s]

\(\mathrm{RMSE_I}\) [bpm]

fit [%]

1

2.32

51.6

1.94

57.6

2

0.62

25.7

1.70

49.4

3

1.42

62.8

1.49

47.4

4

2.14

42.0

1.54

63.4

5

0.91

43.1

1.13

43.3

6

0.81

26.4

2.49

44.0

7a

1.40

42.0

3.87

16.9

8

1.98

24.5

2.88

45.0

9

0.74

39.9

1.73

36.4

10b

3.00

79.0

4.59

45.0

11

1.35

40.2

1.36

44.2

12

0.55

66.4

1.14

43.5

Mean ± SD

1.44 ± 0.78

45.3 ± 17.0

2.16 ± 1.11

44.7 ± 11.2

  1. ID: patient identification number; SD: standard deviation
  2. aModel parameters set to average of ID 1–6
  3. bGain manually set to empirical estimate