Table 1 List of symbols
From: Effects of a powered ankle-foot orthosis on perturbed standing balance
Symbol | Meaning |
|---|---|
F Cx | Sum of the horizontal ground reaction forces |
F Cy | Sum of the vertical ground reaction forces |
g | Gravitational acceleration |
h A | Ankle height w.r.t. the ground |
K | Proportional gain of the virtual-ankle stiffness controller |
K D | Derivative gain of the body sway controller |
K P | Proportional gain of the body sway controller |
l com | Height of the center of mass in upright stance w.r.t. the ankle |
M | Subject mass |
p x | Center of pressure in anteroposterior direction w.r.t. the ankle |
θ sway | Body sway angle |
τ ach | Desired support torque |
τ tot | Total torque applied to the ankle |
ϕ A | Ankle joint angle |