Modeling and Simulation of an Unpowered Lower Extremity Exoskeleton Based on Gait Energy

Table 1

Uncertainty coefficients of Fourier function.

	a0	a1	a2	a3	a4	a5	a6	a7	a8
Ankle	−5.12	4.59	0.04	−1.80	1.16	−0.45	−0.14	0.33	−0.06
Knee	−17.66	18.64	−7.62	2.08	0.38	−0.44	−0.27	0.31	0.04
Hip	−3.88	−11.79	3.84	−0.56	−0.08	0.44	0.17	−0.31	0.10
	b1	b2	b3	b4	b5	b6	b7	b8
Ankle	3.51	5.03	−1.08	−2.13	1.50	0.15	−0.54	0.36	5.18
Knee	−6.76	14.85	−6.35	0.45	0.91	−0.39	−0.24	0.30	5.13
Hip	−19.47	−1.27	2.95	−0.77	−0.42	0.21	0.20	−0.19	5.13