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. Author manuscript; available in PMC: 2010 Jun 23.

Published in final edited form as: IEEE Int Conf Rehabil Robot. 2009 Jun 23;2009:638–644. doi: 10.1109/ICORR.2009.5209625

Table III.

Impedance parameters for treadmill walking from experimental tuning

		Knee Impedance			Ankle Impedance
Phase	Speed km	k Nm	b N·s	θ_k deg	k Nm	b N·s	θ_k deg
Phase	h	deg	m	θ_k deg	deg	m	θ_k deg
0	2.2	1.5	0	10	3.5	0	−4.4
	2.8	1.5	0	10	3.5	0	−4.4
	3.4	1.5	0	10	3.5	0	−4.4

1	2.2	1.5	0	10	3.5	0	−4.4
	2.8	1.5	0	13	3.5	0	−4.4
	3.4	2.0	0	13	4.0	0	−4.4

2	2.2	1.5	0.05	16	3.5	0	− 18
	2.8	1.5	0.05	16	4.0	0	− 19
	3.4	2.0	0.05	16	4.5	0	− 20

3	2.2	0	0.01	50	0.3	0.02	0
	2.8	0	0.01	50	0.3	0.02	0
	3.4	0	0.01	50	0.3	0.02	0

4	2.2	0	0.045	45	0.3	0	0
	2.8	0	0.035	45	0.3	0	0
	3.4	0	0.04	45	0.3	0	0

Highlighted parameters vary with walking speed