Segment Length (mm) Mass (kg) CM (mm) Ixx (kg*mm^2) Iyy (kg*mm^2) Izz (kg*mm^2) Head 3.3400E+002 3.9546E+000 1.9686E+002 4.8042E+004 4.4611E+004 5.6856E+004 Trunk 5.3000E+002 2.5201E+001 2.2000E+002 9.0222E+005 2.0700E+005 8.1354E+005 UpperArm 3.8200E+002 1.5096E+000 2.1980E+002 1.7025E+004 4.8252E+003 1.4891E+004 ForeArm 2.7900E+002 8.1696E-001 1.2720E+002 4.3320E+003 5.6191E+002 4.2003E+003 Hand 1.6300E+002 3.3152E-001 1.2183E+002 2.4836E+003 9.8850E+002 1.8155E+003 Thigh 5.0700E+002 8.7498E+000 1.8313E+002 3.0624E+005 5.9026E+004 2.9800E+005 Shank 3.9400E+002 2.8475E+000 1.7399E+002 3.2464E+004 3.8232E+003 3.1512E+004 Foot 2.3900E+002 7.6368E-001 9.5935E+001 8.4282E+002 3.8999E+003 3.3956E+003