Table 3.

Anthropometric parameters of a triple inverted pendulum.

Body mass [kg]	for each subject
Segment length [m]
Segment mass ratio [% body mass]	[10.2    22.0    67.8]
Segment center of mass ratio [%]	[40.6    47.5    49.3]
Gyration radius ratio [%]	[27.4    27.8    34.6]
Elastic component [Ka, Kk, Kh,]	[0.8    0.5    0.5]*mgh
Viscosity component [Ba, Bk, Bh,]	[4    10    10]

The three values in each row (except for body mass and segment length) are for shank, thigh, and HAT segments, from left to right. Segment center of mass ratio is with respect to the segment length from the upper end. Gyration radius is relative to frontal (mediolateral) axis and is presented as a percentage of each segment length.