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Thomas W. Kernozek, Naghmeh Gheidi, Matthew Zellmer, Jordan Hove, Becky L. Heinert, and Michael R. Torry

insertion points, and wrapping points were based on Delp et al. 34 A kinematic solver determined skeletal model kinematics using global optimization. 35 Joint moments were then obtained from equations of motion and inverse dynamics within the Human Body Model. Muscle forces were determined from the joint

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Max R. Paquette and Daniel A. Melcher

cut-off frequency of 8 Hz to avoid inconsistencies in the equations of motion as per processing methods recommendations. 27 A right-hand rule with a Cardan rotational sequence (x-y-z) was used for the 3D angular computations where x represents the medial-lateral axis, y represents the anterior

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Shohei Shibata, Yuki Inaba, Shinsuke Yoshioka, and Senshi Fukashiro

equations of motion for the ball and fingers are expressed as follows: F ball + m ball g = m ball a ball , (5) F 1 − F ball + m 1 g = m 1 a g 1 , (6) T f 1 + ( − L g 1 ) × F 1 + l × F ball = I 1 ω ˙ 1 + ω 1 × ( I 1 ω 1 ) . (7) Combining these equations, the following equations are obtained: T f 1 =   I 1