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. Author manuscript; available in PMC: 2014 Mar 26.
Published in final edited form as: Clin Biomech (Bristol). 2012 Nov 10;28(1):98–103. doi: 10.1016/j.clinbiomech.2012.10.006
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
M^i1 – distal joint moments
Ii – inertia tensor
θ^˙i – angular velocity about COM
θ^¨i – 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
d^i – 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
n^ji – line of action of muscle j about joint i
ji – moment arm of muscle j about joint i
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