Ish 0.8[kg*m^2] Moment of inertia of shoulder Ia 0.354[kg*m^2] Moment of inertia of arm Ig 0.01367[kg*m^2] Moment of inertia of grip Ic 0.02571[kg*m^2] Moment of inertia of club Ma 8.644[kg] Mass of arm Mg 1.8994[kg] Mass of grip Mc 0.2924[kg] Mass of club ka 5000[N*m/rad] Arm stop stiffness kw 1000[N*m/rad] Wrist stop stiffness ks 2000[N*m/rad] Shaft joint stiffness ca 5[N*m*s/rad] Arm stop damping coefficient cw 5[N*m*s/rad] Wrist stop damping coefficient cs 5[N*m*s/rad] Shaft joint damping coefficient Tsh_max 272.64[N*m] Maximum shoulder torque Ta_max 209.34[N*m] Maximum arm torque Tw_max 34.67[N*m] Maximum wrist torque Ta_rate 3326[N*m/s] Rate of change of arm torque xb 0.15[m] Ball position, x-coordinate tw 0.1[s] Wrist torque switch time lambda 100[1/s] Switch rate parameter