Journal of Robotics / 2018 / Article / Tab 1

Research Article

Biomechanic and Energetic Effects of a Quasi-Passive Artificial Gastrocnemius on Transtibial Amputee Gait

Table 1

Parameter values for the AG controller.

ParameterDescriptionValue

Footswitch threshold for entering the Early Stance state; fraction of the maximum possible value0.2
Footswitch threshold for entering the Swing state0.15
Minimum time in the Swing state before it is possible to exit Swing200 ms
Minimum knee flexion angle (rad) during the Early Stance state before the clutch can be engaged0.087 rad
Minimum knee flexion angular velocity that must be observed during the Early Stance state before the clutch can be engaged1.2 rad/s
Delay time required between activation of the solenoid and the full engagement of the clutch50 ms
Maximum time to energize the solenoid400 ms