Table 1.
Parameter values for the limb model. Elements of the muscle moment arms matrix (Di,j), for the six muscles (i=1-6) around the shoulder (j=1) and elbow joints (j=2). All other elements of D are zero. Moment of inertia (I) around the center of mass, the mass (m) and length (l) of the upperarm (1) and forearm+hand (2). cm is the propotionality constant between muscle force and stiffness. The damping matrix (B) is proportional to the stiffness matrix (K).
| Muscle moment arms |
Segment parameters |
||
|---|---|---|---|
| D 1,1 | 0.0536 [m] | I1 | 0.04 [Nms2] |
| D 2,1 | −0.0536 [m] | I2 | 0.06 [Nms2] |
| D 3,2 | 0.0316 [m] | m1 | 1.93 [kg] |
| D 4,2 | −0.0267 [m] | m2 | 1.52 [kg] |
| D 5,1 | 0.0386 [m] | l1 | 0.31 [m] |
| D 6,1 | −0.0388 [m] | l2 | 0.34 [m] |
| D 5,2 | 0.0427 [m] | cm | 75 [m−1] |
| D 6,2 | −0.0300 [m] | B | 0.05 K |