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

Table 1

BSP data for analytical biomechanical model [9].

	Segment	Mass (kg)	Length/height (m)	Center of gravity (m)	Moment of inertia (kg m^2)
General human model	Foots	1.91	0.07	—	—
	Shanks	6.14	0.43	0.25	0.11
	Thighs	13.20	0.43	0.25	0.26
	HAT	44.75	0.83	0.31	7.53