his is how long each “step” of
torque is, in seconds. Repititions is how many “steps” there are. Spacing is the
interval (in seconds) between “steps.”</p>
<p>Next is the PID flag, which tells the exoskeleton whether you want to use PID
control. 1 means yes, 0 means no. We’ll leave it at 0 (since we do not have a torque transducer).
After this are the individual P, I, and D parameters, which you can tune as you please if and when you use
PID control. Finally, Alpha is a filtering parameter, whi