. 2020 May 25;14:459. doi: 10.3389/fnins.2020.00459

Table 3.

Evaluation of involuntary impedance estimation with experimental data.

#	$\underset{[{kgm}^{2}]}{{\hat{\bar{π}}}_{1}}$	$\underset{[{kgm}^{2}]}{{\hat{\bar{π}}}_{2}}$	$\underset{[{kgm}^{2}]}{{\hat{\bar{π}}}_{3}}$	$\underset{[Nms/rad]}{{\hat{\bar{D}}}_{q, 11}}$	$\underset{[Nms/rad]}{{\hat{\bar{D}}}_{q, 12}}$	$\underset{[Nms/rad]}{{\hat{\bar{D}}}_{q, 21}}$	$\underset{[Nms/rad]}{{\hat{\bar{D}}}_{q, 22}}$	$\underset{[Nm/rad]}{{\hat{\bar{K}}}_{q, 11}}$	$\underset{[Nm/rad]}{{\hat{\bar{K}}}_{q, 12 / 21}}$	$\underset{[Nm/rad]}{{\hat{\bar{K}}}_{q, 22}}$
01	0.0817	0.0582	0.0581	9.00 (0.19)	1.97 (0.08)	2.09 (0.13)	1.18 (0.16)	2.77 (1.92)	4.54 (2.61)	7.75 (4.03)
02	0.0890	0.0787	0.0780	8.68 (0.25)	2.19 (0.11)	2.47 (0.05)	1.92 (0.11)	33.66 (6.23)	1.24 (2.19)	16.34 (3.90)
03	0.1648	0.1021	0.0938	12.64 (0.23)	2.43 (0.12)	2.87 (0.06)	2.49 (0.04)	38.30 (11.12)	6.82 (2.99)	13.88 (4.17)
04	0.1074	0.0751	0.0714	9.08 (0.27)	2.01 (0.09)	2.10 (0.04)	1.56 (0.08)	12.46 (2.96)	13.43 (1.67)	15.40 (2.10)
05	0.0759	0.0877	0.0734	10.44 (1.01)	3.11 (0.36)	3.30 (0.20)	2.30 (0.14)	36.84 (23.14)	14.87 (4.28)	20.00 (3.95)
06	0.2099	0.0923	0.1076	12.70 (0.24)	2.14 (0.21)	2.86 (0.10)	1.98 (0.08)	67.15 (15.12)	18.19 (4.11)	17.62 (1.95)
07	0.1207	0.0677	0.0613	9.24 (0.21)	2.44 (0.26)	2.39 (0.10)	1.58 (0.07)	19.02 (10.65)	11.78 (8.73)	19.06 (5.76)
08	0.0887	0.0671	0.0692	8.07 (0.21)	2.08 (0.08)	2.13 (0.05)	1.72 (0.08)	30.30 (8.02)	1.04 (1.40)	7.60 (2.25)
09	0.2229	0.0838	0.1073	9.27 (0.55)	1.29 (0.19)	1.84 (0.12)	1.86 (0.05)	47.23 (34.71)	0.00 (0.00)	6.63 (1.04)
10	0.0777	0.0501	0.0509	6.61 (0.11)	1.28 (0.06)	1.28 (0.07)	1.03 (0.03)	2.50 (1.24)	4.68 (1.81)	8.96 (2.57)
11	0.1164	0.0918	0.0894	10.15 (0.35)	2.15 (0.04)	2.73 (0.02)	2.35 (0.05)	34.84 (7.62)	1.27 (1.37)	17.24 (1.35)
12	0.1558	0.0646	0.0702	8.15 (0.11)	1.32 (0.07)	1.74 (0.06)	1.34 (0.05)	14.58 (4.91)	7.31 (2.31)	10.55 (2.19)
Mean	0.1259	0.0766	0.0776	9.50 (0.31)	2.03 (0.14)	2.32 (0.08)	1.78 (0.08)	28.30 (10.64)	7.10 (2.79)	13.42 (2.94)

Within- and cross-subject mean (SD) results of the elements of the estimated BIP vector $\hat{\bar{π}}$ , damping ${\hat{\bar{D}}}_{q}$ , and stiffness ${\hat{\bar{K}}}_{q}$ .