ition{4,2}(1)) + Toe_position_set{end-4,2}(1))/4;<span class="keyword">...</span>
0113         (Toe_position_set{end-1,2}(2) + 2*Toe_position_set{<span class="keyword">end</span>,2}(2))/3;<span class="keyword">...</span>
0114         Toe_position_set{2,2}(3)]}; <span class="keyword">...</span>
0115     ];
0116 
0117 <span class="comment">%% Inertial parameters</span>
0118 
0119 Mass_Toe = 0;
0120 Mass_Foot = 0.0137 * Mass;
0121 LFoot = norm(OsteoArticularJoint(end).anat_position{2,2} - OsteoArticularJoint(e