Distance from

elbow joint (m)

Distance from

shoulder joint (m)

Length (m)

Mass (kg)

Subject

S1

S2

S3

S1

S2

S3

S1

S2

S3

S1

S2

S3

Hand

0.11

0.11

0.12

0.58

0.52

0.58

center of mass

0.34

0.32

0.34

0.64

0.60

Forearm

0.28

0.26

0.27

1.00

0.90

1.00

center of mass

0.44

0.41

additional mass

0.07

0.06

0.07

0.37

0.34

0.24

0.22

0.24

Upper arm

0.30

0.28

0.33

2.14

2.53

Battery

0.37

0.35

0.67

0.63

0.26

0.29

0.29