A Human-Robot Interaction Based Coordination Control Method for Assistive Walking Devices and an Assessment of Its Stability

Table 1

The definitions of the parameters appearing in (1) and (2).

Parameter	Definition
	The inner state of the i-th neuron (i = 1 or 2)
	Self-suppression parameter for the i-th neuron
	Time constant for the inner state of the i-th neuron
	Time constant for the adaptation of the i-th neuron
	Degree of self-inhibition of the inner state of the i-th neuron
	Connecting weight from the j-th to i-th neuron
	Steady-state input to the i-th neuron
	Input weight
	The output of a neuron
	External periodic input signal to the k-th CPG unit