3.1. Testing Tasks

To assess the performance of the proposed accompanying method, six basic walking tasks and two types of combined movement were performed. The six basic walking tasks were: forward walking, backward walking, left lateral walking, right lateral walking, a left pivot of 90°, and a right pivot of 90°. These tasks were performed with a 2.5 m × 1.8 m rectangle of the force plate border as a reference. The two types of combined maneuvers were (1) walking along the force plate while the user maintained a front-facing orientation and (2) walking around the force plate clockwise or counterclockwise. The border of the force plate was used as the walking reference. In addition, the user arbitrarily set or selected the target position. Although the robot’s performance should be identical with different accompanying positions, it was purposely set in front of the user to demonstrate our proposed method capability.