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impedance parameter for level ground walking from experimental tuning
| Phase | Knee Impedance | Ankle Impedance | |||||
|---|---|---|---|---|---|---|---|
| Speed km | k Nm | b N·s | θk deg | k Nm | b N·s | θk deg | |
| h | deg | m | deg | m | |||
| 0 | 5.1 | 2.5 | 0 | 8 | 3.0 | 0.04 | −1 |
| 1 | 5.1 | 4.5 | 0.05 | 8 | 4.5 | 0.04 | 0 |
| 2 | 5.1 | 3.0 | 0.05 | 22 | 6.0 | 0.01 | −18 |
| 3 | 5.1 | 0.1 | 0 | 65 | 0.4 | 0.05 | 0 |
| 4 | 5.1 | 0.2 | 0.04 | 40 | 0.7 | 0.03 | 0 |
Highlighted parameters vary from 3.4 km/h treadmill walking.
