Table 3.

References given to the joints in the experiment shown in Figure 7B.

Dig. Ref.	Ref.(ksps)	Joint 1(degrees)	Joint 2(degrees)	Joint 3(degrees)	Joint 4(degrees)	X(cm)	Y (cm)	Z (cm)
−200	−305.17	−49.43	−38.14	−46.45	−76.71	−14.09	−25.10	12.06
−150	−228.88	−37.42	−31.12	−36.25	−64.93	−19.53	−23.53	25.53
−100	−152.59	−23.40	−18.96	−26.93	−42.60	−20.19	−13.63	46.65
−50	−76.29	−9.33	−9.02	−11.11	−30.47	−10.56	5.16	64.28
0	0	4.62	2.03	−0.38	−6.73	5.70	28.78	70.40
50	76.29	18.70	12.77	10.60	11.11	21.10	51.79	62.34
100	152.59	35.96	23.69	21.72	22.93	31.24	70.38	43.05
150	228.88	49.42	33.83	32.40	46.23	26.24	81.38	22.47
200	305.17	55.30	37.84	33.90	59.81	23.01	82.61	15.93

References are in Kspikes/s, angles are in degrees(°) and cartesian coordinates in cm. The Dig. Ref. is the value that should be given to the Spikes Generator block that will generate the rate given by the field Ref.