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Impedance control gains for hip, knee, and ankle joints in low, medium, and high assistance mode.
| Joint | Low assistance mode | Medium assistance mode | High assistance mode | ||||||
|---|---|---|---|---|---|---|---|---|---|
| K 1 | K 2 | K d | K 1 | K 2 | K d | K 1 | K 2 | K d | |
| Hip | 0.44 | 67.62 | 5.0 | 1.38 | 72.30 | 5.0 | 3.20 | 93.67 | 5.0 |
| Knee | 0.59 | 50.71 | 4.0 | 2.14 | 46.73 | 4.0 | 6.29 | 47.65 | 4.0 |
| Ankle | 0.81 | 37.01 | 2.0 | 3.98 | 25.13 | 2.0 | 43.42 | 6.91 | 2.0 |
