Robotics and Biomimetics

Table 1 Identification results

From: The FES-assisted control for a lower limb rehabilitation robot: simulation and experiment

	Parameter	Value	Unit		Parameter	Value	Unit
χ ₁	$I_{1} + I_{2} + l_{1}^{2} m_{2}$	57.3328	kg m²	χ ₅	k _{s f 1}	−1.1060	Nm
χ ₂	l₁(m₂+m₁/2)	2.6204	kg m	χ ₆	k _{s f 2}	0.1335	Nm
χ ₃	I ₂	6.3912	kg m²	χ ₇	k _{d f 1}	−4.0587	Nm s/rad
χ ₄	m₂l₂/2	5.2661	kg m	χ ₈	k _{d f 2}	2.5287	Nm s/rad

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