Robust Control of the Knee Joint Angle of Paraplegic Patients considering Norm-Bounded Uncertainties

Table 1

Parameter values obtained experimentally in [5, 6, 11] to the shank-foot complex of a paraplegic, 30-year-old patient.

Parameter		Value	Unit
	Inertial moment of shank-foot complex	0.362	Kg⋅m^2
	Mass of shank-foot complex	4.37	Kg
	Distance between knee and the center of the mass of shank-foot complex	23.8	cm
	Viscous coefficient	0.27	N⋅m⋅s/rad
	Coefficient of exponential term	41.208	N⋅m/rad
	Coefficient of exponential term	2.024	rad^−1
	Resting elastic knee angle	2.918	rad
	Transfer function coefficient (time constant of the pole)	0.951	s
	Transfer function coefficient (static gain)	42500	N⋅m/s