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. Author manuscript; available in PMC: 2011 Jul 15.

Published in final edited form as: J Neural Eng. 2007 May 4;4(3):234–245. doi: 10.1088/1741-2560/4/3/009

Table 2.

Model inertia matrix and stiffness (k_R) and viscosity (k_B) components.

	JD			JU/JS			M

k_R	1.03	0	0	1.00	0	0	6.41	3.41	1.31
	0	1.15	0	0	1.00	0	3.41	2.99	0.99
	0	0	1.49	0	0	1.00	1.31	0.99	0.58

k_B	4.09	0	0	3.33	1.22	0.49
	0	3.27	0	1.22	2.06	0.48
	0	0	2.15	0.49	0.48	0.84
	ED			ES			EU

k_R	2.29	0	0	2.75	1.26	1.23	1.17	0.39	0.19
	0	4.94	0	1.26	1.70	0.59	0.93	1.31	0.33
	0	0	9.14	1.23	0.59	0.69	1.82	1.23	0.93

k_B	6.50	0	0	4.76	1.84	1.47	3.95	1.85	0.74
	0	7.37	0	1.84	2.49	0.86	2.53	2.71	0.82
	0	0	9.49	1.47	0.86	0.68	2.03	1.46	1.00