Table 2.
Arm model parameters for individual subjects.
| Subject | 1 | 2 | 3 | 4 |
|---|---|---|---|---|
| Height (cm) | 180 | 162 | 177 | 181 |
| Weight (Kg) | 84 | 58 | 75 | 78 |
| LU (cm) | 33.48 | 30.13 | 32.92 | 33.67 |
| LF (cm) | 45.36 | 40.82 | 44.60 | 45.61 |
| rU (cm) | 13.91 | 12.16 | 13.48 | 13.78 |
| rF (cm) | 26.38 | 23.57 | 25.83 | 26.39 |
| MU (kg) | 2.29 | 1.56 | 2.03 | 2.11 |
| MF (kg) | 2.00 | 1.52 | 1.84 | 1.90 |
| I(lo) U (kg cm2 s−2) | 46.54 | 28.54 | 40.45 | 42.61 |
| I(ap) U (kg cm2 s−2) | 137.84 | 74.02 | 120.09 | 130.03 |
| I(tr) U (kg cm2 s−2) | 152.50 | 84.74 | 133.92 | 144.65 |
| I(lo) F (kg cm2 s−2) | 21.91 | 12.93 | 18.63 | 19.56 |
| I(ap) F (kg cm2 s−2) | 465.00 | 295.87 | 416.54 | 445.74 |
| I(tr) F (kg cm2 s−2) | 475.79 | 302.27 | 425.77 | 455.45 |
LU, upper arm length; LF, forearm length (including hand and handle); rU, position of the upper arm center-of-mass along the link-6 x axis; rF, position of the upper arm center-of-mass along the link-7 x axis; I(lo) U, inertia along the longitudinal axis of the upper arm; I(ap) U, inertia along the antero-posterior axis of the upper arm; I(tr) U, inertia along the trasversal axis of the upper arm; I(lo) F, inertia along the longitudinal axis of the forearm + hand + handle system; I(ap) F, inertia along the antero-posterior axis of the forearm + hand + handle system; I(tr) F, inertia along the trasversal axis of the forearm + hand + handle system.