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Impedance Parameters Derived by Experimental Tuning
| Knee Impedance |
Ankle Impedance |
|||||||
|---|---|---|---|---|---|---|---|---|
| Mode | k1 (Nm/deg) | k2 (Nm/deg3) | b (N s m–1) | θe (deg) | k1 (Nm/deg)) | k2 (Nm/deg3) | b (Nms/deg) | θe (deg) |
| 1 | 7.5 | 0 | 0 | 14 | 4.5 | 0 | 0 | –8 |
| 2 | 1.0 | 0.006 | 0 | 16 | 4.5 | 0 | 0 | –25 |
| 3 | 0 | 0 | 0.005 | 0 | 0.5 | 0 | 0 | 0 |
| 4 | 0.08 | 0 | 0.08 | 30 | 0.75 | 0 | 0 | –3 |
