Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings

Table 1

Three-element model of pneumatic muscle model identification parameters.

Coefficient	Contraction		Stiffness		Damping (inflation)		Damping (deflation)
PAM
Shoulder flexion	269.5	1.71	8.65	0.0505	1.31	0.008	0.68	0.0009
Humeral rotation	130.3	0.98	6.11	0.0295	0.88	0.005	0.48	0.0006
Elbow extension	160.7	1.23	6.56	0.0341	0.98	0.006	0.53	0.0007
Forearm pronation	120.3	0.86	5.48	0.0265	0.76	0.004	0.42	0.0005
Wrist extension	115.1	0.81	5.73	0.0243	0.73	0.004	0.39	0.0005