Figure 7

Left upper and middle panels) Coriolis, centripetal and inertial interactive torque errors for the elbow and shoulder joints as a function of the percentage of the underestimation of counter clockwise torso rotation. Lower left panel) Sum of torque errors for the elbow and shoulder joints as a function of the percentage of the underestimation of counter clockwise torso rotation. Right upper and middle panels) Coriolis, centripetal and inertial interactive torque error for elbow and shoulder joints as a function of the percentage of the underestimation of clockwise torso rotation. Lower right panel) Sum of torque errors for the elbow and shoulder joints as a function of the percentage of the underestimation of clockwise torso rotation.