diff --git a/simscape_subsystems/stewart_strut.slx b/simscape_subsystems/stewart_strut.slx
index b394b13..26727d0 100644
Binary files a/simscape_subsystems/stewart_strut.slx and b/simscape_subsystems/stewart_strut.slx differ
diff --git a/stewart-architecture.org b/stewart-architecture.org
index 2bf5fc5..a940ac2 100644
--- a/stewart-architecture.org
+++ b/stewart-architecture.org
@@ -849,17 +849,22 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
   %
   % Inputs:
   %    - args - Structure with the following fields:
-  %        - Kbi [6x1] - Rotational Stiffness for each top spherical joints [N/rad]
-  %        - Cbi [6x1] - Damping of each top spherical joint [N/(rad/s)]
-  %        - Kti [6x1] - Rotational Stiffness for each bottom universal joints [N/rad]
-  %        - Cti [6x1] - Damping of each bottom universal joint [N/(rad/s)]
+  %        - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad]
+  %        - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)]
+  %        - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad]
+  %        - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)]
+  %        - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad]
+  %        - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)]
+  %        - disable [true/false] - Sets all the stiffness/damping to zero
   %
   % Outputs:
   %    - stewart - updated Stewart structure with the added fields:
-  %        - Kbi [6x1] - Rotational Stiffness for each top spherical joints [N/rad]
-  %        - Cbi [6x1] - Damping of each top spherical joint [N/(rad/s)]
-  %        - Kti [6x1] - Rotational Stiffness for each bottom universal joints [N/rad]
-  %        - Cti [6x1] - Damping of each bottom universal joint [N/(rad/s)]
+  %        - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad]
+  %        - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)]
+  %        - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad]
+  %        - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)]
+  %        - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad]
+  %        - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)]
 #+end_src
 
 *** Optional Parameters
@@ -869,10 +874,13 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
 #+begin_src matlab
   arguments
       stewart
-      args.Kti (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1)
-      args.Cti (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1)
-      args.Kbi (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1)
-      args.Cbi (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1)
+      args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-1*ones(6,1)
+      args.Csbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
+      args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-2*ones(6,1)
+      args.Csti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
+      args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-1*ones(6,1)
+      args.Cubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
+      args.disable logical {mustBeNumericOrLogical} = false
   end
 #+end_src
 
@@ -881,10 +889,21 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
 :UNNUMBERED: t
 :END:
 #+begin_src matlab
-  stewart.Kti = args.Kti;
-  stewart.Cti = args.Cti;
-  stewart.Kbi = args.Kbi;
-  stewart.Cbi = args.Cbi;
+  if args.disable
+    stewart.Ksbi = 0;
+    stewart.Csbi = 0;
+    stewart.Ksti = 0;
+    stewart.Csti = 0;
+    stewart.Kubi = 0;
+    stewart.Cubi = 0;
+  else
+    stewart.Ksbi = args.Ksbi;
+    stewart.Csbi = args.Csbi;
+    stewart.Ksti = args.Ksti;
+    stewart.Csti = args.Csti;
+    stewart.Kubi = args.Kubi;
+    stewart.Cubi = args.Cubi;
+  end
 #+end_src
 
 * Bibliography                                                        :ignore: