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Table 1 DH Parameters of the human arm

From: Human arm joints reconstruction algorithm in rehabilitation therapies assisted by end-effector robotic devices

i

θ i

d i

a i

α i

1

Ï€/2+q1

0

0

Ï€/2

2

3Ï€/2+q2

0

0

Ï€/2

3

q 3

l u

0

−π/2

4

Ï€/2+q4

0

0

Ï€/2

5

Ï€/2+q5

l f

0

Ï€/2

6

Ï€/2+q6

0

0

Ï€/2

7

Ï€/2+q7

0

0

Ï€/2

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Journal of NeuroEngineering and Rehabilitation

ISSN: 1743-0003

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