Table 1.
Parameter values for the limb model
| Muscle moment arms | Segment parameters | ||
|---|---|---|---|
| D1,1 | 0.0536 (m) | I1 | 0.04 (Nms2) |
| D2,1 | −0.0536 (m) | I2 | 0.06 (Nms2) |
| D3,2 | 0.0316 (m) | m1 | 1.93 (kg) |
| D4,2 | −0.0267 (m) | m2 | 1.52 (kg) |
| D5,1 | 0.0386 (m) | l1 | 0.31 (m) |
| D6,1 | −0.0388 (m) | l2 | 0.34 (m) |
| D5,2 | 0.0427 (m) | cm | 75 (m−1) |
| D6,2 | −0.0300 (m) | B | 0.05 K |
Elements of the muscle moment arms matrix (Di,j), for the six muscles (i = 1–6) around the shoulder (j = 1) and elbow joints (j = 2). All other elements of D are zero. Moment of inertia (I) around the center of mass, the mass (m), and length (l) of the upper arm (1) and forearm + hand (2). cm is the proportionality constant between muscle force and stiffness. The damping matrix (B) is proportional to the stiffness matrix (K).