A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities

Table 6

Impedance control gains of the ankle joint.

Controller	Initial rate of change of desired torque	Angle error at the maximum torque (rad)
A	30	0.07	0.81	37.01	2.0
B	100	0.05	3.98	25.13	2.0
C	300	0.03	43.42	6.91	2.0