Table 1.

Parameters of the lumped reflex gain model

Lumped parameter	Unit	Description
m	kg·m 2	Joint inertia
b	Nm·s / rad	Muscle viscosity
k	Nm / rad	Muscle stiffness
k p	Nm / rad	Position feedback gain
k v	Nm·s / rad	Velocity feedback gain
k f	Nm / Nm	Force feedback gain
τ del	s	Neural time delay
τ act	s	Muscle activation time constant