Parameter Optimization and Experimental Analysis of Passive Energy Storage Power-Assisted Exoskeleton

Table 1

Human model parameters.

Part of the human body	Length (cm)	Centroid (cm)	Proportion of body weight (%)
Trunk	l17 = 0.3H	dB = 0.660l17	55.7
Upper arm	l8 = 0.159H	dU = 0.436l8	2.7
Forearm	l9 = 0.146H	dF = 0.430l9	1.5