Fig. 7From: Development of VariLeg, an exoskeleton with variable stiffness actuation: first results and user evaluation from the CYBATHLON 2016Results from MACCEPA characterization. Experimental results were compared to theoretical values. Stiffness is higher for higher deflections at high pretensions. Experimental torque fits match theoretical data within 2 to 3 Nm RMSE, whereas stiffness curves display larger errors of up to 30 Nm/rad deviation at the highest pretensionBack to article page