Table 1 The parameters of the joint.

From: Closed loop iterative learning control for consistency tracking in lower limb rehabilitation robotic system with initial state deviations

Joint

Hip

Knee

Rated Speed (rpm)

27

35

Rated Torque (N∙m)

133

107

Peak Torque (N∙m)

194

169

Reduction Ratio

80

50

Rated Voltage (V)

48

48

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