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Table 1 Numerical values of the parameters of the arm

From: A biologically inspired neural network controller for ballistic arm movements

Parameter Units
M – Mass of the subject 80 kg
M1 – mass of the upper arm 2.24 kg
M2 – mass of the lower arm 1.92 kg
L – height of he subject 1.70 m
l1 – length of the upper arm 0.297 cm
l2 – length of the lower arm 0.272 m
I1 – inertias of the upper arm M1*(0.322*L1)2
I2 – inertias of the lower arm M2*(0.468*L2)2