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. 2021 May 28;15:653409. doi: 10.3389/fnbot.2021.653409

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Copyright © 2021 Zhang and Collins.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Instantaneous passive stiffness values under passive walking plotted against the measured torques for different spring configurations, one session for each. Each session consisted of one-hundred strides with motor position locked. The stabilized passive stiffness value of one session was defined as the median of the values over a stabilized region. The effective stiffness of the one configuration was defined as the mean of stabilized values of multiple sessions.