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. Author manuscript; available in PMC: 2013 Jul 31.
Published in final edited form as: J Biomech. 2012 Feb 2;45(6):1017–1022. doi: 10.1016/j.jbiomech.2012.01.005

Figure 4.

Figure 4

Added joint dofs with accompanying passive stiffness. Knee abduction/adduction (θkry) is added to the knee joint. Eq. 10 is solvable provided a passive stiffness (here, 1 N-m/rad) is added to Sp around θkry. Generalized force is once again dependant on transducer stiffness. Compare A and B with a transducer stiffness of: A) a balanced 107 N/m and N-m/rad; and B) an unbalanced 107 N/m and 103 N-m/rad. Base compliance also alters the force and shown by the moderate mbase stiffness depicted in C.