Development and Evaluation of a Powered Artificial Gastrocnemius for Transtibial Amputee Gait

Table 4

Walking conditions for minimal metabolic power (OPT condition). For all but the last row, numbers represent the settings and results during the OPT condition. In the last row, positive values indicate that the given robotic joint produced greater net work in the OPT condition than in the ZERO condition.

Participant	S1	S2	S3	S4	S5	S6
Condition name	Bio	Max	Default	Default	Default	Half
Force gain scaling	0.1	8	1	1	1	1.5
Force gain (1/N)
AG mean power (W/kg)	0.054	0.118	0.028	0.027	0.105	0.031
Change in AG mean power from ZERO (W/kg)	−0.001	+0.020	+0.056	+0.077	+0.011	+0.009