Synthetic M arker Data with N oise ............................ ................................... 13
 Experimental M arker Data .................... ................ ........... 14

4 R E S U L T S .....................................................................................................2 9

 Synthetic M arker Data without N oise ............................................. ............... 29
 Synthetic M arker D ata w ith N oise ........................................ ........................ 29
 E xperim ental M arker D ata .............................................................. .....................29

5 D ISC U S SIO N ............... ................................................................................ 36

 Assumptions, Limitations, and Future W ork................................... ............... 36
 Joint M odel Selection ............... ........... .. ...... ....... ................... 36
 Design Variable Constraints........ ........... ... ............. .... ..... .......... 36
 Objective Function Formulation.................................................................... 37
 Optimization Time and Parallel Computing............................................ 37
 M ulti-Cycle and One-Half-Cycle Joint M otions..............................................38
 Range of Motion and Loading Conditions .................................39
 Optimization Using Gait Motion...... .................................... 39
 Comparison of Experimental Results with Literature ............................. .............40

6 CONCLUSION ........... ................ .... .. ... ......... ...... .............. 43

 Rationale for New Approach ............... ......... ..................... 43
 Synthesis of Current W ork and Literature........................................ ....... ............ 43

G L O S SA R Y ...................................................................4 5

APPENDIX

A NOMINAL JOINT PARAMETERS & OPTIMIZATION BOUNDS FOR
 SYN TH ETIC M ARK ER D A TA ................................................... ............... ............52

B NOMINAL JOINT PARAMETERS & OPTIMIZATION BOUNDS FOR
 EXPERIMENTAL M ARKER DATA ............................................ ............... 55

C NOMINAL & OPTIMUM JOINT PARAMETERS FOR SYNTHETIC MARKER
 D A TA W ITH OU T N OISE .............................................. ..... ........................ 58

D NOMINAL & OPTIMUM JOINT PARAMETERS FOR SYNTHETIC MARKER
 D A TA W ITH N O ISE ........................................................................... .............61

E NOMINAL & OPTIMUM JOINT PARAMETERS FOR MULTI-CYCLE
 EXPERIMENTAL MARKER DATA ............................... .......................... 64

F NOMINAL & OPTIMUM JOINT PARAMETERS FOR FIRST
 ONE-HALF-CYCLE EXPERIMENTAL MARKER DATA...............................67