Energy [W] Mean ± STD

PID-only

ANFIS-only

ANFIS-PID

Energy (sit to stand transfer)

213.63 ± 158.09

235.89 ± 86.86

266.16 ± 76.86

Energy (maintaining upright position)

309.53 ± 5.33

307.54 ± 1.71

307.03 ± 0.82

Energy (The overall period) sit to stand transfer + during standing

292.5172 ± 76.15

286.75 ± 56.99

293.72 ± 47.86