Inverted Pendulum Standing Apparatus for Investigating Closed-Loop Control of Ankle Joint Muscle Contractions during Functional Electrical Stimulation

Table 1

Gains for the PD controller in the PDstimLD and PDstimSD conditions and stimulation intensity in the CONSTstim condition. P-gain stands for the proportional gain and D-gain stands for the derivative gain of the PD controller.

Subject	PDstimLD gains		PDstimSD gains		CONSTstim
	P-gain; Nm/rad	D-gain; Nm·s/rad	P-gain; Nm/rad	D-gain; Nm·s/rad	Intensity; mA
A	100	85	100	30	33
B	110	80	110	50	33
C	70	60	70	20	34