| Human parameter | Mode 1 | Mode 2 | Mode 3 | Lower limits |
|---|---|---|---|---|
| Jh (kg· m2) | 50 | 0.08 | 0.02 | 0.0001 |
| Ch (N· m· s/rad) | 1e5 | 5 | 0.5 | 0.001 |
| Kh (N· m/rad) | 4e5 | 200 | 20 | 0 |
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