Table 2.
Human balance control model parameters
| Anthropomorphic | Controller properties | ||
|---|---|---|---|
|
Parameter |
Value |
Parameter |
Value |
| Mass |
70 (kg) |
Ankle stiffness |
293 (Nm/rad) |
| m1 |
22.54 (kg) |
Ankle damping |
2.2 (Nm s/rad) |
| m2 |
47.46 (kg) |
Hip stiffness |
95 (Nm/rad) |
| Length |
1.70 (m) |
Hip damping |
27.4 (Nm s/rad) |
| l1 |
1 (m) |
Time delay ankle |
60 (ms) |
| l2 |
0.7 (m) |
Time delay hip |
40 (ms) |
| d1 |
0.57 (m) |
|
|
| d2 |
0.26 (m) |
|
|
| I1 |
0.65 (m) |
Muscle dynamics |
|
| I2 |
0.44 (m) |
Eigen frequency (ωn) |
4.4π (rad/s) |
| g | 9.81 (m/s2) | Damping (β) | 0.7 (-) |