Knee Torque Limits
| Knee Angle (rad) | Transmission Ratio (In/Out) | Max Output Torque (N*m) |
|---|---|---|
| -2.792900 | -24.776718 | 37.165077 |
| -2.767442 | -26.290108 | 39.435162 |
| -2.741984 | -27.793369 | 41.690054 |
| -2.716526 | -29.285997 | 43.928996 |
| -2.691068 | -30.767536 | 46.151304 |
| -2.665610 | -32.237423 | 48.356134 |
| -2.640152 | -33.695168 | 50.542751 |
| -2.614694 | -35.140221 | 52.710331 |
| -2.589236 | -36.572052 | 54.858078 |
| -2.563778 | -37.990086 | 56.985128 |
| -2.538320 | -39.393730 | 59.090595 |
| -2.512862 | -40.782406 | 61.173609 |
| -2.487404 | -42.155487 | 63.233231 |
| -2.461946 | -43.512371 | 65.268557 |
| -2.436488 | -44.852371 | 67.278557 |
| -2.411030 | -46.174873 | 69.262310 |
| -2.385572 | -47.479156 | 71.218735 |
| -2.360114 | -48.764549 | 73.146824 |
| -2.334656 | -50.030334 | 75.045502 |
| -2.309198 | -51.275761 | 76.913641 |
| -2.283740 | -52.500103 | 78.750154 |
| -2.258282 | -53.702587 | 80.553881 |
| -2.232824 | -54.882442 | 82.323664 |
| -2.207366 | -56.038860 | 84.058290 |
| -2.181908 | -57.171028 | 85.756542 |
| -2.156450 | -58.278133 | 87.417200 |
| -2.130992 | -59.359314 | 89.038971 |
| -2.105534 | -60.413738 | 90.620607 |
| -2.080076 | -61.440529 | 92.160793 |
| -2.054618 | -62.438812 | 93.658218 |
| -2.029160 | -63.407692 | 95.111538 |
| -2.003702 | -64.346268 | 96.519402 |
| -1.978244 | -65.253670 | 97.880505 |
| -1.952786 | -66.128944 | 99.193417 |
| -1.927328 | -66.971176 | 100.456764 |
| -1.901870 | -67.779457 | 101.669186 |
| -1.876412 | -68.552864 | 102.829296 |
| -1.850954 | -69.290451 | 103.935677 |
| -1.825496 | -69.991325 | 104.986988 |
| -1.800038 | -70.654541 | 105.981812 |
| -1.774580 | -71.279190 | 106.918785 |
| -1.749122 | -71.864319 | 107.796478 |
| -1.723664 | -72.409088 | 108.613632 |
| -1.698206 | -72.912567 | 109.368851 |
| -1.672748 | -73.373871 | 110.060806 |
| -1.647290 | -73.792130 | 110.688194 |
| -1.621832 | -74.166512 | 111.249767 |
| -1.596374 | -74.496147 | 111.744221 |
| -1.570916 | -74.780251 | 112.170376 |
| -1.545458 | -75.017998 | 112.526997 |
| -1.520000 | -75.208656 | 112.812984 |
| -1.494542 | -75.351448 | 113.027172 |
| -1.469084 | -75.445686 | 113.168530 |
| -1.443626 | -75.490677 | 113.236015 |
| -1.418168 | -75.485771 | 113.228657 |
| -1.392710 | -75.430344 | 113.145515 |
| -1.367252 | -75.323830 | 112.985744 |
| -1.341794 | -75.165688 | 112.748531 |
| -1.316336 | -74.955406 | 112.433109 |
| -1.290878 | -74.692551 | 112.038826 |
| -1.265420 | -74.376694 | 111.565041 |
| -1.239962 | -74.007477 | 111.011215 |
| -1.214504 | -73.584579 | 110.376869 |
| -1.189046 | -73.107742 | 109.661613 |
| -1.163588 | -72.576752 | 108.865128 |
| -1.138130 | -71.991455 | 107.987183 |
| -1.112672 | -71.351707 | 107.027561 |
| -1.087214 | -70.657486 | 105.986229 |
| -1.061756 | -69.908813 | 104.863220 |
| -1.036298 | -69.105721 | 103.658581 |
| -1.010840 | -68.248337 | 102.372505 |
| -0.985382 | -67.336861 | 101.005291 |
| -0.959924 | -66.371513 | 99.557270 |
| -0.934466 | -65.352615 | 98.028923 |
| -0.909008 | -64.280533 | 96.420799 |
| -0.883550 | -63.155693 | 94.733540 |
| -0.858092 | -61.978588 | 92.967882 |
| -0.832634 | -60.749775 | 91.124662 |
| -0.807176 | -59.469845 | 89.204767 |
| -0.781718 | -58.139503 | 87.209255 |
| -0.756260 | -56.759487 | 85.139231 |
| -0.730802 | -55.330616 | 82.995924 |
| -0.705344 | -53.853729 | 80.780594 |
| -0.679886 | -52.329796 | 78.494694 |
| -0.654428 | -50.759762 | 76.139643 |
| -0.628970 | -49.144699 | 73.717049 |
| -0.603512 | -47.485737 | 71.228605 |
| -0.578054 | -45.784004 | 68.676006 |
| -0.552596 | -44.040764 | 66.061146 |
| -0.527138 | -42.257267 | 63.385900 |
| -0.501680 | -40.434883 | 60.652325 |
| -0.476222 | -38.574947 | 57.862421 |
| -0.450764 | -36.678982 | 55.018473 |
| -0.425306 | -34.748432 | 52.122648 |
| -0.399848 | -32.784836 | 49.177254 |
| -0.374390 | -30.789810 | 46.184715 |
| -0.348932 | -28.764952 | 43.147428 |
| -0.323474 | -26.711969 | 40.067954 |
| -0.298016 | -24.632576 | 36.948864 |
| -0.272558 | -22.528547 | 33.792821 |
| -0.247100 | -20.401667 | 30.602500 |