Table 1.
Geometric and mass distribution parameters for kneed walking model (after McGeer 1990b). (Length parameters are presented as a fraction of total leg length L and mass parameters as fraction of total body mass M. Length parameters are depicted in figure 1.)
| parameter | symbol | value |
|---|---|---|
| mass of pelvis | mp | 0.676 |
| mass of thigh | mt | 0.1 |
| mass of shank | ms | 0.062 |
| length of thigh | Lt | 0.46 |
| length of shank | Ls | 0.54 |
| moment of inertia of thigh | It | 0.00182 |
| moment of inertia of shank | Is | 0.00214 |
| location of thigh COM relative to hip | ct | 0.26 |
| location of shank COM relative to knee | cs | 0.3 |
| forward offset of thigh COM | wt | 0 |
| forward offset of shank COM | ws | 0.01 |
| radius of curvature of foot | R | 0.3 |
| angular offset of foot COM relative to shank | ϵ | 0.2 |