Table 3. Results of the curve fitting for knee flexion/extension.

Set	(ms)	(ms)	(ms)			(ms)
1A	83.11	83.11	115	103.84	103.84	425
1B	105.02	105.02	115	134.63	134.59	440
2A	94.47	94.47	110	107.71	107.71	430
2B	76.58	76.58	120	139.47	139.47	435
3A	69.09	69.09	140	77.13	77.12	460
3B	113.76	113.76	125	94.56	94.56	495
4A	108.96	108.96	90	136.61	136.54	450
4B	82.99	82.85	105	150.33	150.33	415
5A	95.95	95.95	110	131.17	131.17	410
5B	82.99	82.85	105	148.99	148.99	420
6A	78.37	78.37	150	151.75	151.75	425
6B	97.24	97.22	130	123.34	123.34	495

Values are provided for , and which can be substituted into Eqn. 16. As RunBot has a knee structure controlled by a motor and springs, the values for the knee joint transfer functions which correspond to the delay between the trigger and , were set to zero.