From: A novel robot for imposing perturbations during overground walking: mechanism, control and normative stepping responses
DoF
M
M comp
\(\text {B = 2}\sqrt {\mathrm {M}\cdot \mathrm {K}} \)
K
X
0.5 kg
0 kg
7.1 kg/s
25 N/m
Y
0.8 kg
8.9 kg/s
Z
0.12 kgm2
0.2 kgm2
0.49 Nm/rads
0.5 N/rad
D
1.0 kg
3.16 N/m
2.5 N/m