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. 2020 Mar 18;20(6):1694. doi: 10.3390/s20061694

Table 2.

Parameter estimates ${\hat{a}}_{i}$ and ${\hat{b}}_{i}$ of the actuators.

Actuated joint	Estimate ${\hat{a}}_{i}$ [s⁻¹]	Estimate ${\hat{b}}_{i}$ [V⁻¹s⁻²]
Waist	${\hat{a}}_{1} = 10.2$	${\hat{b}}_{1} = 1.53$
Shoulder	${\hat{a}}_{2} = 13.1$	${\hat{b}}_{2} = 1.10$
Elbow	${\hat{a}}_{3} = 05.5$	${\hat{b}}_{3} = 0.88$
Wrist	${\hat{a}}_{4} = 17.0$	${\hat{b}}_{4} = 0.88$