Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements

Table 2 Dynamic parameters of the STS exoskeleton with all leg lengths set to L=0.42m

See More part	mass	center of mass (x,y) w.r.t. joint	rotational inertia
left foot	1.21kg	(0.09217,−0.0690)m	0.00849kgm²
left lower leg	1.88kg	(0.1883,0.0109)m	0.0105kgm²
left upper leg	2.53kg	(0.2268,0.0088)m	0.01529kgm²
right foot	1.19kg	(0.09121,−0.0686)m	0.00792kgm²
right lower leg	1.96kg	(0.1826,−0.0067)m	0.0118kgm²
right upper leg	2.47kg	(0.2301,0.0152)m	0.01568kgm²
pelvis	1.59kg	(0.113,−0.072)m	0.0072kgm²