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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