Table III.
Knee Impedance | Ankle Impedance | ||||||
---|---|---|---|---|---|---|---|
Phase | Speed km |
k Nm |
b N·s |
θk deg |
k Nm |
b N·s |
θk deg |
h | deg | m | deg | m | |||
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