run.m

% Model params
M_e = 5;
M_h = 10;
l = 1;
g = 9.81;

%Impedamce model
K = 10000;
D = 10000;

%Exo Gains
Kp_e = 300;
Kd_e = 300;


%human Gains
Kp_h = 300;
Kd_h = 300;