Table 2.

Model parameter values

Parameter	Symbol	Value
Body mass	m	70
Handle (moving) mass	mh	0.5
Mass of first segment	m1	0.028 m
Mass of second segment	m2	0.022 m
Length of first segment	l1	0.3
Length of second segment	l2	0.35
Center of gravity coefficient, first segment	c1	0.43
Center of gravity coefficient, second segment	c2	(0.41 m2 + mh)/(m2 + mh)
Mass distribution coefficient, first segment	k1	0.10
Mass distribution coefficient, second segment	k2	0.22
Muscle time constant	τ	0.04
Muscle torque scaling factor	γ	30
Soft rectification parameter	σ	10

For the full description of the model, see Materials and Methods. Values in S.I. units: length in m, mass in kg, time in s.