Figure 3
The relation between total movement times and the sum of the peak hip and knee joint moments. The cross, triangular and circle marks show the averages of the sum of the peak hip and knee joint moments, the inertial components and the static components, respectively (standard deviation bars are also shown). As the movement time decreased, the sum of those moments and the inertial components increased. On the other hand, the static components were relatively constant. This figure is useful to estimate the required joint moment for each movement time.