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

Table 2

Optimization of simulation analysis.

Number of iterations	Measured value (Nm)	kS1 (N/m)	kS2 (N/m)	t1	t2
0	99.05	0.0000	0.0000	0.5000	0.5000
1	92.114	1141.4	957.43	0.4934	0.5000
2	83.538	1911.6	2564.1	0.5002	0.5624
3	83.261	1974.4	2695.0	0.5131	0.6777
4	73.685	2186.8	2894.8	0.5339	0.8537
5	70.130	2233.9	2985.8	0.5799	0.8598
6	66.948	2315.5	3165.7	0.6101	0.8622
7	56.340	2355.6	3258.3	0.6574	0.8653
8	48.645	2402.4	3355.0	0.6831	0.8674
9	45.774	2437.5	3485.4	0.7042	0.8691
10	39.848	2478.5	3531.3	0.7328	0.8694
11	39.433	2519.5	3621.4	0.7524	0.8694
12	38.694	2551.6	3727.7	0.8243	0.8694
13	38.291	2581.1	3795.2	0.8245	0.8694
14	38.291	2581.1	3795.2	0.8245	0.8694