Skip to main content

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