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. Author manuscript; available in PMC: 2010 Dec 1.

Published in final edited form as: IEEE ASME Trans Mechatron. 2009;14(6):667–676. doi: 10.1109/TMECH.2009.2032688

TABLE III.

Impedance Parameters for Treadmill Walking From Experimental Tuning

		Knee Impedance			Ankle Impedance

	Speed km h⁻¹	k Nm deg⁻¹	b N s m⁻¹	θ_k deg	k Nm deg⁻¹	b N s m⁻¹	θ_k deg
0	2.2	2.5	0.05	8	3.0	0.04	−1
	2.8	2.5	0.05	10	3.0	0.04	−1
	3.4	2.5	0.05	10	3.0	0.04	−1

1	2.2	4.0	0.06	6	5.0	0.04	0
	2.8	5.0	0.06	6	5.0	0.04	0
	3.4	5.0	0.06	6	5.0	0.04	0

2	2.2	3.0	0.02	14	4.0	0.01	−16
	2.8	3.5	0.02	14	5.0	0.01	−16
	3.4	5.0	0.02	14	5.0	0.01	−16

3	2.2	0.15	0.02	65	0.4	0.05	0
	2.8	0.10	0.02	65	0.4	0.05	0
	3.4	0.10	0.01	65	0.4	0.05	0

4	2.2	0.10	0.03	40	0.7	0.03	0
	2.8	0.20	0.03	40	0.7	0.03	0
	3.4	0.25	0.03	40	0.7	0.03	0

Highlighted parameters vary with walking speed.