Table 4 RMSE of the proposed algorithm regarding the optoelectronic system reconstruction (grand mean of the seven subjects)

Elbow joint position [cm]

2.13

1.1

0.977

< 0.001

Wrist joint position [cm]

1.89

1.12

0.982

< 0.001

q₁ [deg]

3.548

2.148

0.957

< 0.001

q₂ [deg]

3.271

2.992

0.977

< 0.001

q₃ [deg]

4.569

3.041

0.966

< 0.001

q₄ [deg]

1.719

1.542

0.995

< 0.001

q₅ [deg]

4.506

2.741

0.873

< 0.001

q₆ [deg]

2.825

2.226

0.899

< 0.001

q₇ [deg]

4.742

3.279

0.982

< 0.001