Table 2 Technical specifications, typical training preparation time and walking speed of the VariLeg prototype

Weight

kg

35

Max. cont. joint torque

Nm

89.6

Max. joint velocity

rpm

19.5

Max. knee joint stiffness

Nm/rad

380

Battery life

h

1.5–2

Typical preparation time

Min

30

Typical don/doff time

Min

10

Typical walking speed

m/s

0.2

Typical stride frequency

Hz

3

Maximum step length

m

0.5

Hip width

m

0.345 – 0.400

Thigh length

m

0.435 – 0.495

Shank length

m

0.380 – 0.440