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

Table 3

Type and main parameters of the actuators.

	Type	Parameter	Value
Retarder	SHF11-50	Maximum output torque (N m)	17
		Retarder ratio	50
Motor	X-67087	Maximum speed (r/min)	3000
		Maximum current (A)	3.2