Segment Length (mm) Mass (kg) CM (mm) Ixx (kg*mm^2) Iyy (kg*mm^2) Izz (kg*mm^2) Head 2.0020E+002 4.1349E+000 1.1800E+002 1.8048E+004 1.6759E+004 2.1359E+004 Trunk 5.2930E+002 2.6351E+001 2.1971E+002 9.4088E+005 2.1587E+005 8.4839E+005 UpperArm 2.7510E+002 1.5784E+000 1.5829E+002 9.2321E+003 2.6166E+003 8.0753E+003 ForeArm 2.6430E+002 8.5422E-001 1.2049E+002 4.0649E+003 5.2725E+002 3.9412E+003 Hand 7.8000E+001 3.4664E-001 5.8297E+001 5.9464E+002 2.3668E+002 4.3469E+002 Thigh 3.6850E+002 9.1488E+000 1.3310E+002 1.6916E+005 3.2604E+004 1.6460E+005 Shank 4.3230E+002 2.9774E+000 1.9090E+002 4.0864E+004 4.8125E+003 3.9667E+004 Foot 2.2830E+002 7.9851E-001 9.1640E+001 8.0412E+002 3.7208E+003 3.2397E+003