Table 1.
Parameters of two-link model
| Parameter | Value |
|---|---|
| Length of upper link | 0.35 m |
| Length lower link | 0.45 m |
| Mass of upper link | 1.764 kg |
| Mass of lower link | 1.818 kg |
| Center of mass from joint, upper link | 0.168 m |
| Center of mass from joint, lower link | 0.193 m |
| Moment of inertia, upper link | 0.0394 kg·m2 |
| Moment of inertia, lower link | 0.0749 kg·m2 |
| Damping coefficient, upper link | 0.8 kg·m2/s |
| Damping coefficient, lower link | 0.8 kg·m2/s |
| Muscle time constant of excitation | 0.04 s |
| Muscle time constant of activation | 0.03 s |
Damping coefficients were obtained from Nakano et al. (1999), muscle parameters were taken from van der Helm and Rozendaal (2000). All other parameters were taken from Kawato (1995). If necessary, they were rescaled according to the arm length used.