Table 3 Parameters of the virtual board-ball model.

M

Weight of the board

kg

0.01

m

Weight of the ball (Exp. 1)

kg

0.05

m

Weight of the ball (Exp. 2)

kg

0.15

g

Gravity acceleration

\(m/s^2\)

9.81

\(k_h\)

Force input stiffness

N/m

200

\(c_h\)

Force input damper

Ns/m

2

\(k_{s}\)

Stiffness of the spring

N/m

140

l

Distance between the control point and the center of the board

m

0.25

I

Moment of inertia of the board

\(kg \cdot m^2\)

0.0004