Mass distribution properties used in model*
| Segment . | Local origin . | Mass (kg) . | Ixx (kg m2) . | Iyy (kg m2) . | Izz (kg m2) . | CM X offset (m) . | CM Y offset (m) . |
|---|---|---|---|---|---|---|---|
| Torso | Hip joint | 39.00 | 0.34 | 6.00 | 5.84 | -0.328 | 0 |
| Thigh | Hip joint | 10.36 | 0.041 | 0.54 | 0.54 | 0.180 | 0 |
| Calf | Knee joint | 3.16 | 0.06 | 0.13 | 0.13 | 0.174 | 0 |
| Foot | Ankle joint | 1.00 | 0.018 | 0.001 | 0.018 | 0 | 0.116 |
| Segment . | Local origin . | Mass (kg) . | Ixx (kg m2) . | Iyy (kg m2) . | Izz (kg m2) . | CM X offset (m) . | CM Y offset (m) . |
|---|---|---|---|---|---|---|---|
| Torso | Hip joint | 39.00 | 0.34 | 6.00 | 5.84 | -0.328 | 0 |
| Thigh | Hip joint | 10.36 | 0.041 | 0.54 | 0.54 | 0.180 | 0 |
| Calf | Knee joint | 3.16 | 0.06 | 0.13 | 0.13 | 0.174 | 0 |
| Foot | Ankle joint | 1.00 | 0.018 | 0.001 | 0.018 | 0 | 0.116 |
Ixx, Iyy and Izz are the principle moments of inertia of the segment about the local origin. CM X and CM Y are the local coordinates of the segment's centre of mass.
The model was taken from (Zatiorski and Seluyanov, 1983).