Biomechanic and Energetic Effects of a Quasi-Passive Artificial Gastrocnemius on Transtibial Amputee Gait

Table 1

Parameter values for the AG controller.

Parameter	Description	Value
	Footswitch threshold for entering the Early Stance state; fraction of the maximum possible value	0.2
	Footswitch threshold for entering the Swing state	0.15
	Minimum time in the Swing state before it is possible to exit Swing	200 ms
	Minimum knee flexion angle (rad) during the Early Stance state before the clutch can be engaged	0.087 rad
	Minimum knee flexion angular velocity that must be observed during the Early Stance state before the clutch can be engaged	1.2 rad/s
	Delay time required between activation of the solenoid and the full engagement of the clutch	50 ms
	Maximum time to energize the solenoid	400 ms