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Table 1 Parameters of admittance control

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

0 kg

8.9 kg/s

25 N/m

Z

0.12 kgm2

0.2 kgm2

0.49 Nm/rads

0.5 N/rad

D

1.0 kg

0 kg

3.16 N/m

2.5 N/m