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. Author manuscript; available in PMC: 2011 Jul 12.
Published in final edited form as: J Mech Robot. 2010 Nov;2(4):041005–041013. doi: 10.1115/1.4002205

Table 1.

Progression of error reduction

Mechanism Optimization Variables b (N m s / rad kg) k (N m/ rad) M0 (N m) Error for full gait (N2 m2) Error from foot-flat to toe-off (N2 m2) Peak motor pwr (W)
Hinge Unconstrained k, b, and M0 −0.094 180 35 6.5146 NA 92
Passive 4bar Constrained k, b, M0, l0, l1, l2, and l3 0 61 −81 3.3785 NA 0
Active 4bar Constrained k, b, M0, l0, l1, l2, and l3 −0.047 61 −80 1.6981 0.5406 130
Improved cost Constrained k, b, M0, l0, l1, l2, and l3 −0.056 67 −61 NA 0.1211 150
Penalized energy Constrained k, b, M0, l0, l1, l2, and l3 −0.012 15 4.4 NA 0.1164 150