Table 1.

System parameters.

Geometry-determined parameters				Test-determined parameters
	Thigh actuators	Shank actuators	Units		Thigh actuators	Shank actuators	Units
τa	0.0013	0.0012	s	Ba	0.0455	0.03	Nms/rad
ka	−0.4	−0.2	Nm	ks	3000	3000	N/m
Ja	0.0156	0.0132	kgm2	kfr	23	15
r	0.023	0.023	m