Figure 3
From: Role of compliant mechanics and motor control in hopping - from human to robot
Quantifying the joint elastic behavior. (a) The elasticity coefficient \({C_{EL}}\) in different leg joints for different hopping frequencies, and (b) Residual torque ratio: the ratio of residual torque to the joint torque for different hopping frequencies. The residual torque is the difference between the joint torque and torque predicted by the elastic term (linear spring model). The standard error for each value is shown as an error bar. The significant difference between different values in different frequencies for different joints is shown with small stars.
