Table 2 List of the contractions performed

1.

Sinusoidal contractions

1: flexion/extension (DoF1)

along a single DoF

2: radial/ulnar deviation (DoF2)

(freq. ≈ 0.5 − 1 Hz)

3: pronation/supination (DoF3)

2.

Combined activation

4: DoF1 + DoF2

of two DoFs, in which

5: DoF2 + DoF1

one DoF was articulated

6: DoF1 + DoF3

sinousoidally, and the other

7: DoF3 + DoF1

was fixed at positions close

8: DoF2 + DoF3

to maximal range of motion

9: DoF3 + DoF2

3.

Cyclic contractions of

10: DoF1 + DoF2 + DoF3

unconstrained dynamic

wrist movements.

(freq. ≈ 0.5 − 1 Hz)