| Parameter | Symbol | Value | Unit |
| Mass of upper arm | m1 | 2.40 | kg |
| Mass of forearm | m2 | 2.00 | kg |
| Mass of hand | m3 | 1.20 | kg |
| Principal moment of inertia | j41x | 0.0080 | kg∙m2 |
| Principal moment of inertia | j41y | 0.0080 | kg∙m2 |
| Principal moment of inertia | j41z | 0.0010 | kg∙m2 |
| Principal moment of inertia | j42x | 0.0070 | kg∙m2 |
| Principal moment of inertia | j42y | 0.0070 | kg∙m2 |
| Principal moment of inertia | j42z | 0.0040 | kg∙m2 |
| Principal moment of inertia | j43x | 0.0070 | kg∙m2 |
| Principal moment of inertia | j43y | 0.0070 | kg∙m2 |
| Principal moment of inertia | j43z | 0.0050 | kg∙m2 |
| COG of upper arm | k1 | 0.14 | m |
| COG of forearm | k2 | 0.13 | m |
| COG of hand | k3 | 0.07 | m |
| l1 of upper arm | l1 | 0.27 | m |
| l2 of forearm | l2 | 0.25 | m |
| l3 of hand | l3 | 0.16 | m |
| Gravity | g | 10.0 | m/s2 |