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

Table 7

Impedance control gains for hip, knee, and ankle joints in low, medium, and high assistance mode.

Joint	Low assistance mode			Medium assistance mode			High assistance mode
	Hip	0.44	67.62	5.0	1.38	72.30	5.0	3.20	93.67	5.0
Knee	0.59	50.71	4.0	2.14	46.73	4.0	6.29	47.65	4.0
Ankle	0.81	37.01	2.0	3.98	25.13	2.0	43.42	6.91	2.0