TABLE 1.

INTERIAL PARAMETERS FOR BONE SEGMENTS

Segment	Mass (kg)	Center of Mass in Segment Reference Frame (m)			Inertia about Center of Mass (kg m)
		Rx	Ry	Rz	Ixx	Ixy	Ixz	Iyy	Iyz	Izz
Carpal Bones*	0.3274	−0.0003	0.0033	−0.0045	1.51E−05	0.00E+00	0.00E+00	3.37E−05	0.00E+00	3.96E−05
First metacarpal	0.0160	0.0078	−0.0147	−0.0060	2.38E−06	9.44E−07	5.02E−07	1.42E−06	−8.17E−07	2.52E−06
Second metacarpal	0.0364	0.0000	0.0000	0.0000	9.78E−06	1.45E−06	−2.40E−07	5.29E−07	1.56E−06	9.74E−06
Third metacarpal	0.0381	0.0000	0.0000	0.0000	8.89E−06	1.28E−07	−1.68E−08	2.95E−07	1.12E−06	8.74E−06
Fourth metacarpal	0.0333	−0.0020	−0.0214	0.0034	6.85E−06	−7.04E−07	1.00E−07	3.49E−07	9.37E−07	6.79E−06
Fifth metacarpal	0.0296	−0.0061	−0.0177	0.0054	4.77E−06	−1.06E−06	2.23E−07	5.73E−07	9.36E−07	4.82E−06
Thumb proximal phalanx	0.0079	0.0096	−0.0163	−0.0063	5.21E−07	1.89E−07	7.52E−08	3.19E−07	−1.25E−07	5.85E−07
Thumb distal phalanx	0.0031	0.0056	−0.0104	−0.0044	9.21E−08	2.84E−08	1.31E−08	6.45E−08	−2.09E−08	1.00E−07
Second proximal phalanx	0.0158	0.0044	−0.0253	0.0040	2.41E−06	3.31E−07	−6.25E−08	5.63E−07	3.59E−07	2.40E−06
Second middle phalanx	0.0049	0.0022	−0.0154	0.0002	2.83E−07	2.39E−08	−1.13E−09	7.30E−08	1.01E−08	2.85E−07
Second distal phalanx	0.0018	0.0013	−0.0100	0.0000	4.55E−08	5.53E−09	−5.75E−10	1.58E−08	3.20E−09	4.62E−08
Third proximal phalanx	0.0193	0.0010	−0.0262	0.0037	3.52E−06	8.59E−08	−6.42E−09	6.16E−07	2.17E−07	3.51E−06
Third middle phalanx	0.0064	0.0007	−0.0168	0.0013	5.25E−07	1.99E−08	−8.17E−10	1.01E−07	1.74E−08	5.25E−07
Third distal phalanx	0.0025	0.0005	−0.0102	−0.0003	8.08E−08	4.06E−09	−3.80E−10	2.65E−08	5.10E−09	8.06E−08
Fourth proximal phalanx	0.0137	−0.0022	−0.0238	0.0035	1.95E−06	−2.02E−07	2.31E−08	3.91E−07	1.81E−07	1.96E−06
Fourth middle phalanx	0.0057	−0.0020	−0.0147	0.0012	3.60E−07	−2.37E−08	2.13E−09	9.43E−08	2.41E−08	3.60E−07
Fourth distal phalanx	0.0029	−0.0004	−0.0102	0.0020	9.91E−08	−5.72E−09	1.26E−09	3.64E−08	1.39E−08	9.65E−08
Fifth proximal phalanx	0.0111	−0.0081	−0.0211	−0.0021	1.18E−06	−3.28E−07	2.81E−08	3.72E−07	7.93E−08	1.29E−06
Fifth middle phalanx	0.0037	−0.0049	−0.0121	−0.0002	1.57E−07	−4.00E−08	3.69E−09	6.14E−08	1.01E−08	1.70E−07
Fifth distal phalanx	0.0022	−0.0036	−0.0089	0.0003	5.06E−08	−1.24E−08	1.15E−09	2.89E−08	2.53E−09	5.59E−08