Parameter Parameter Patient A Patient B Passive Stiffness at Restangle Pk 2,8 Nm/rad 1,0 Nm/rad Damping at Restangle Pd 0,07 Nms/rad 0,05 Nms/rad Active Additional activation induced muscle stiffness at Restangle Ak_act 8,3 Nm/rad 8,3 Nm/rad Additional activation induced muscle damping at Restangle Ad_act 0,08 Nms/rad 0,08 Nms/rad Reflexive Reflexive Looptime Rtd_st 30 ms 29 ms Reflexive contributions to joint resistance Rkv_st 0,080 Nms/rad 0,092 Nms/rad Reflex modulation due to activation Rm_act 0,06 Nms/rad 0,06 Nms/rad Reflex modulation due to environmental changes Rm_env 0,01 Nms/rad -0,06 Nms/rad

Table 3: Parameters following from the system identification technique tested on a paretic chronic stroke patient (pt. A) and a functionally recovered chronic stroke patient (pt. B).

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