Skip to main content

Table 1 Controller gain optimization results

From: Comparing joint kinematics and center of mass acceleration as feedback for control of standing balance by functional neuromuscular stimulation

Joint feedback input

JOINT (JT) FEEDBACK ALONE

JT + ACC COMBINED

 

Proportionaljoint gainKP(unitless)

Derivativejoint gainKD(sec)

Proportionaljoint gainKP(unitless)

Derivativejoint gainKD(sec)

Ankle PF/DF

6.49

0.52

7.17

0.51

Knee F/E

0.00

0.00

0.00

0.00

Hip Ab/Ad

2.22

1.71

3.64

3.33

Hip F/E

0.00

1.08

0.00

1.68

Trunk F/E

7.78

13.64

7.28

19.50

Center of Mass (COM) Acceleration Dimensional Feedback Input

COM ACCELERATION (ACC) FEEDBACK ALONE

JT + ACC COMBINED

 

Proportional Acceleration Gain K A (unitless)

Proportional Acceleration Gain K A (unitless)

Anterior-Posterior

-5.17e-2

-1.08e-2

Medial-Lateral

-0.992

-1.68