APPENDIX A. TABLES

Table 2. The distance from the center of mass of each link to the distal and proximal joints in x, y, and z. A positive distance along the y axis refers to a location on the left side of the body; a negative distance refers to the right side. The z axis is vertical and the x axis is positive in the direction that the model is facing.

Table 3. Human model's rigid-body parameters. The moments of inertia are computed about each link's COM.