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Table 1 Initial value and increase of control parameters

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%

300%

500%

250%

250%

Servo stiffness change range

120.2%

319.5%

122.2%

70.1%

80.5%