Table 4. Coefficients of equations (8) and (9).
| Parameter (Unit) | SO | MG | LG | TA |
 (cm) |
32.30 | 46.40 | 45.50 | 30.60 |
 (cm/deg) |
7.22 
|
7.48 
|
7.62 
|
−7.44 
|
 (cm/ ) |
−2.24 
|
−1.13 
|
−1.25 
|
−1.41 
|
 (cm/ ) |
−3.15 
|
−3.50 
|
−3.55 
|
2.42 
|
 (cm/ ) |
9.27 
|
7.35 
|
7.65 
|
1.50 
|
 (cm) |
−4.10 | −4.30 | −4.40 | 4.30 |
 (cm/deg) |
2.57 
|
1.30 
|
1.44 
|
1.66 
|
 (cm/ ) |
5.45 
|
6.08 
|
6.18 
|
−3.89 
|
 (cm/ ) |
−2.22 
|
−1.87 
|
−1.94 
|
−4.45 
|
 (cm/ ) |
−5.50 
|
−1.02 
|
−1.02 
|
−4.34 
|
These values were estimated from inverse kinematics data (least-squares curve fitting) reported in [82].