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Fig. 7. Viscous damping model stiffness and damping coefficients as a function of
frequency at amplitudes of 0.1 (circles), 0.5 (squares) and 1.0 mm
(triangles). (A) Stiffness (k) of the fixed coxa. (B) Stiffness of
the free-coxa leg. (C) Viscous damping coefficient (c) of the
fixed-coxa leg decreased with oscillation frequency and amplitude. (D) Viscous
damping coefficient of the free-coxa leg also decreased with frequency and
amplitude. Viscous damping in the free-coxa leg was 4050% less than in
the fixed-coxa leg.