B-2 Nominal right knee joint parameters and optimization bounds for experimental
 m arker data. ........................................... ........................... 56

B-3 Nominal right ankle joint parameters and optimization bounds for experimental
 m arker data. ........................................... ........................... 57

C-l Nominal and optimum right hip joint parameters for synthetic marker data without
 n oise. ............................................................................... 5 8

C-2 Nominal and optimum right knee joint parameters for synthetic marker data
 w without noise. ...................................................... ................. 59

C-3 Nominal and optimum right ankle joint parameters for synthetic marker data
 w without noise. ...................................................... ................. 60

D-1 Nominal and optimum right hip joint parameters for synthetic marker data with
 n o ise ............................................................................... 6 1

D-2 Nominal and optimum right knee joint parameters for synthetic marker data with
 n oise. ............................................................................... 62

D-3 Nominal and optimum right ankle joint parameters for synthetic marker data with
 n oise. ............................................................................... 6 3

E-1 Nominal and optimum right hip joint parameters for multi-cycle experimental
 m arker data. ........................................... ........................... 64

E-2 Nominal and optimum right knee joint parameters for multi-cycle experimental
 m arker data. ........................................... ........................... 65

E-3 Nominal and optimum right ankle joint parameters for multi-cycle experimental
 m arker data. ........................................... ........................... 66

F-l Nominal and optimum right hip joint parameters for first one-half-cycle
 experim ental m arker data. ........................................... ........................................67

F-2 Nominal and optimum right knee joint parameters for first one-half-cycle
 experim ental m arker data. ........................................... ........................................68

F-3 Nominal and optimum right ankle joint parameters for first one-half-cycle
 experim ental m arker data. ........................................... ........................................69

G-l Nominal and optimum right hip joint parameters for second one-half-cycle
 experim ental m arker data. ........................................... ........................................70

G-2 Nominal and optimum right knee joint parameters for second one-half-cycle
 experim ental m arker data. ............................................................................. 71