Table II.

Musculoskeletal parameters estimated for the right and left legs of each participant.

Parameters of S1
Parameter	Right Leg	Left Leg
It [mA]	18.10	21.21
Is [mA]	60.00	60.00
m [kg]	4.69	4.68
lc [m]	0.37	0.37
J [kg m2]	0.19	0.18
θeq [rads]	1.20	1.18
d1 [Nm]	2.66×10−14	2.40×10−14
d2 [Nm]	1.68	3.50
d3 [Nm]	1.64	1.48×10−9
d4	1.59	3.47
d5 [Nm]	0.76	4.37
d6	−39.09	−39.97
ϕ0 [rads]	5.29×10−8	1.88×10−8
c0 [Nm]	78.78	80.36
c1 [Nm]	55.76	67.12
c2 [Nm]	−49.02	−56.25
c3	1.44	1.04
Ta [sec]	0.26	0.25
μmin	2.61×10−9	3.15×10−9
Tf [sec]	29.17	30.14
Tr [sec]	48.09	41.50
RMS [deg.]	8.10	6.06

Parameters of S2
Parameter	Right Leg	Left Leg
It [mA]	20.00	20.00
Is [mA]	70.00	70.00
m [kg]	2.10	2.59
lc [m]	0.18	0.16
J [kg m2]	0.18	0.24
θeq [rads]	1.30	1.24
d1 [Nm]	13.53	11.01
d2 [Nm]	1.95	2.01
d3 [Nm]	2.29×10−7	8.22×10−9
d4	11.71	15.40
d5 [Nm]	2.59×10−6	0.99
d6	−6.40×10−5	−21.27
ϕ0 [rads]	1.03	0.85
c0 [Nm]	51.08	30.37
c1 [Nm]	−21.86	9.58
c2 [Nm]	−17.49	−17.49
c3	1.69	0.90
Ta [sec]	0.41	0.50
μmin	6.54×10−2	2.55×10−10
Tf [sec]	9.34	24.89
Tr [sec]	68.19	71.46
RMS [deg.]	6.18	2.95