Probe# 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90

REGENERATIONMODELPROBES Description DesiredAnkleTrajectory DesiredKneeTrajectory DesiredHipTrajectory ActualAnkleTrajectory ActualKneeTrajectory ActualHipTrajectory AnkleTorqueduetoInertia AnkleTorqueduetoCorriolis AnkleTorqueduetoGravity KneeTorqueduetoInertia KneeTorqueduetoCorriolis KneeTorqueduetoGravity HipTorqueduetoInertia HipTorqueduetoCorriolis HipTorqueduetoGravity AnkleInputVoltage(toactuator) KneeInputVoltage(toactuator) HipInputVoltage(toactuator) Ankle:SOCLevel Ankle:BatteryVoltage(measuredbetweenterminals) Ankle:Instantaneousanklebatterycurrentdraw Ankle:Integralofinstantaneousanklebatterycurrent draw Ankle:Electricalpowertomotor Ankle:currenttomotor Ankle:armatureresistancevoltage Ankle:armatureinductancevoltage Ankle:rotationalemfvoltage(bemf) Ankle:Mechanicalpowerbeforegear Ankle:Mechanicaltorquebeforegear Ankle:shaftangularvelocityaftergear Ankle:shaftangularpositionaftergear Ankle:Mechnicalpoweraftergear Ankle:Mechanicaltorqueaftergear Knee:SOCLevel Knee:BatteryVoltage(measuredbetweenterminals) Knee:Instantaneousanklebatterycurrentdraw Knee:Integralofinstantaneousanklebatterycurrent draw Knee:Electricalpowertomotor Knee:currenttomotor Knee:armatureresistancevoltage Knee:armatureinductancevoltage Knee:rotationalemfvoltage(bemf) Knee:Mechanicalpowerbeforegear Knee:Mechanicaltorquebeforegear Knee:shaftangularvelocityaftergear Knee:shaftangularpositionaftergear Knee:Mechnicalpoweraftergear Knee:Mechanicaltorqueaftergear Hip:SOCLevel Hip:BatteryVoltage(measuredbetweenterminals) Hip:Instantaneousanklebatterycurrentdraw Hip:Integralofinstantaneousanklebatterycurrent draw Hip:Electricalpowertomotor Hip:currenttomotor Hip:armatureresistancevoltage Hip:armatureinductancevoltage Hip:rotationalemfvoltage(bemf) Hip:Mechanicalpowerbeforegear Hip:Mechanicaltorquebeforegear Hip:shaftangularvelocityaftergear Hip:shaftangularpositionaftergear Hip:Mechnicalpoweraftergear Hip:Mechanicaltorqueaftergear Ankle:Desired(reference)current Knee:Desired(reference)current Hip:Desired(reference)current Ankle:Desired(reference)angularvelocity Knee:Desired(reference)angularvelocity Hip:Desired(reference)angularvelocity Ankle:Mechanicalwork Knee:Mechanicalwork Hip:Mechanicalwork Ankle:MotorEfficiency Ankle:Electricalwork Ankle:Electricalaveragepower Ankle:Mechanicalworkbeforegear Ankle:Mechanicalaveragepowerbeforegear Ankle:Mechanicalaveragepoweraftergear Knee:MotorEfficiency Knee:Electricalwork Knee:Electricalaveragepower Knee:Mechanicalworkbeforegear Knee:Mechanicalaveragepowerbeforegear Knee:Mechanicalaveragepoweraftergear Hip:MotorEfficiency Hip:Electricalwork Hip:Electricalaveragepower Hip:Mechanicalworkbeforegear Hip:Mechanicalaveragepowerbeforegear Hip:Mechanicalaveragepoweraftergear

Probename desiredankletraj desiredkneetraj desiredhiptraj actualankletraj actualkneetraj actualhiptraj ankletorqueinertia ankletorquecorriolis ankletorquegravity kneetorqueinertia kneetorquecorriolis kneetorquegravity hiptorqueinertia hiptorquecorriolis hiptorquegravity ankleinputvoltage kneeinputvoltage hipinputvoltage anklesoclevelstate anklebatteryvoltage

Unit deg. deg. deg. deg. deg. deg. Nm. Nm. Nm. Nm. Nm. Nm. Nm. Nm. Nm. V V V n/a V A coulombs W A V V V W Nm. rad/s rad W Nm. n/a V A coulombs W A V V V W Nm. rad/s rad W Nm. n/a V A coulombs W A V V V W Nm. rad/s rad W Nm. A A A rad/s rad/s rad/s J J J n/a J W J W W n/a J W J W W n/a J W J W W

anklebatteryinstantcurrent anklebatteryintegralcurrent ankleelectpowermotor anklecurrenttomotor anklearmresvoltage anklearmindvoltage ankleemfvoltage anklemechpowerbeforegear anklemechtorquebeforegear ankleangvelaftergear ankleangposaftergear anklemechpoweraftergear anklemechtorqueaftergear kneesoclevelstate kneebatteryvoltage kneebatteryinstantcurrent kneebatteryintegralcurrent kneeelectpowermotor kneecurrenttomotor kneearmresvoltage kneearmindvoltage kneeemfvoltage kneemechpowerbeforegear kneemechtorquebeforegear kneeangvelaftergear kneeangposaftergear kneemechpoweraftergear kneemechtorqueaftergear hipsoclevelstate hipbatteryvoltage hipbatteryinstantcurrent hipbatteryintegralcurrent hipelectpowermotor hipcurrenttomotor hiparmresvoltage hiparmindvoltage hipemfvoltage hipmechpowerbeforegear hipmechtorquebeforegear hipangvelaftergear hipangposaftergear hipmechpoweraftergear hipmechtorqueaftergear anklerefcurrent kneerefcurrent hiprefcurrent ankledesiredangularvelocity kneedesiredangularvelocity hipdesiredangularvelocity anklemechanicalwork kneemechanicalwork hipmechanicalwork anklemotorefficiency ankleelectricalwork ankleelectricalaveragepower anklemechanicalworkbeforegear anklemechavgpowerbeforegear anklemechavgpoweraftergear kneemotorefficiency kneeelectricalwork kneeelectricalaveragepower kneemechanicalworkbeforegear kneemechavgpowerbeforegear kneemechavgpoweraftergear hipmotorefficiency hipelectricalwork hipelectricalaveragepower hipmechanicalworkbeforegear hipmechavgpowerbeforegear hipmechavgpoweraftergear