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Impedance control with inner RR-DMJLS force control. Torque and impedance control responses for: (A) Kv = 15 N·m/rad and Bv = 0 N·m·s/rad, and (B) Kv = 15 N·m/rad and Bv = 5 N·m·s/rad. Graphs show desired (blue) and measured (red) values for the platform torque (top), angular position of the ankle joint (middle-top), angular velocity of the ankle joint (middle-bottom); and Markov chain (bottom).
