Table 1 Template signature functional forms.
Term | Symbol | Normalized form |
|---|---|---|
Leg stiffness | \({\kappa }_{L}\) | \(\frac{{k}_{L}{L}_{bio}}{Mg}\) |
Leg resting length | \({\widetilde{L}}_{0}\) | \({L}_{0}/{L}_{bio}\) |
Leg damping | \({\zeta }_{L}\) | \(\frac{{c}_{L}}{2\sqrt{{k}_{L}M}}\) |
Sagittal-plane rotary stiffness | \({\kappa }_{s}\) | \(\frac{{k}_{s}}{Mg{L}_{bio}}\) |
Sagittal-plane rotary damping | \({\zeta }_{s}\) | \(\frac{{c}_{s}}{\sqrt{{\kappa }_{s}M{L}_{bio}^{2}}}\) |
Frontal-plane rotary stiffness | \({\kappa }_{f}\) | \(\frac{{k}_{f}}{Mg{L}_{bio}}\) |
Frontal-plane rotary damping | \({\zeta }_{f}\) | \(\frac{{c}_{f}}{\sqrt{{\kappa }_{f}M{L}_{bio}^{2}}}\) |
