Cartesian Control of Sit-to-Stand Motion Using Head Position Feedback

Table 3

BSP data based on the subject’s physical parameters.

Subj ID	Segment	Mass (kg)	Length/height (m)	Center of gravity (m)	Moment of inertia (kg m^2)
1	Foots	2.22	0.066	—	—
	Shanks	7.11	0.419	0.237	0.114
	Thighs	15.31	0.417	0.236	0.278
	HAT	51.90	0.801	0.299	8.199