Data for defining individual joints Kind Ba Bp r() i SiP s tij i siP so j s s rt(ij) i P so j C g(ij) i sip R,0 s R,0 rp(ij i s so j R,0 cfij) i p,(c) s0 j p;(a) 59 cffij) i P,(c) S0 j so p叭i) i j p,(a)Data for defining individual joints i i i i i i i K Ba Bb ind rp(i,j j ) g(i,j) j cf (i,j) j cf(i,j) j rt(i,j) j C t(i,j) j r(i,j) j P i s P j s P j s Ri  i , Rj  j , Rj  j , pf(i,j) Q i s Q j s i j P i s P i s P i s P i s ( ) i ai P j s Q i s Q i s Q i s Q i s P j s P j s P j s ( )  j a j Q j ( ) s i ai P i s ( )  j a j Q j s