From: Design of bionic active–passive hybrid-driven prosthesis based on gait analysis and simulation of compound control method
Control Parameter
\({K}_{v}\)
\({K}_{p}\)
\({K}_{pi}\)
\({T}_{n}\)
\({T}_{g}\)
Initial value
10
10,000
20
6
0.3
Change range
300%
500%
250%
Servo stiffness change range
120.2%
319.5%
122.2%
70.1%
80.5%