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. 2015 Nov 10;12:99. doi: 10.1186/s12984-015-0091-8

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© Milosevic et al. 2015

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Fig. 4 — The gain combinations that stabilized the model used in the simulation study. K _P is the proportional gain, K _D is the derivative gain of the proportional-derivative (PD) controller used to emulate the neural control, and K is the mechanical stiffness contribution. The figure shows the relationship between the parameters