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.