i
|
– segment number or joint number (1 represents the most distal segment or joint) |
Ŝ
i
|
– proximal joint reaction forces |
Ŝ
i−1
|
– distal joint reaction forces |
|
– distal joint moments |
Ii
|
– inertia tensor |
|
– angular velocity about COM |
|
– angular acceleration about COM |
mi
|
– segment mass |
E3×3
|
– identity matrix |
â
i
|
– linear acceleration of segment COM |
ĉ
i
|
– vector from the proximal joint to the segment COM |
|
– vector from the proximal to the distal joint |
ĝ
|
– acceleration due to gravity |
K
|
– number of muscles |
Fj
|
– individual muscle force |
F
maxj
|
– maximum possible muscle force |
|
– line of action of muscle j about joint i |
r̂ji
|
– moment arm of muscle j about joint i |