Bounded Control of an Actuated Lower-Limb Exoskeleton

Table 1

Physiological parameters (Case  1 & Case  2).

Parameters	Units	Values
Shank length		0.2000
Foot length		0.0800
Shank mass		2.8000
Foot mass		1.1700
Shank inertia	kg⋅m^2	0.0750
Foot inertia	kg⋅m^2	0.0120
gravity		9.8000
Shank damping Coeff.		0.4000
Foot damping Coeff.		0.6000
Knee joint angle	rad	0.5000
Ankle joint angle	rad	0.2000
Knee joint friction	rad	2.3500
Ankle joint friction	rad	0.8700
	rad