Table 2.

Joint angle of human

	HtH			HoH			OH
Joint	Max	Min	Range	Max	Min	Range	Max	Min	Range
${\theta }_{\text{shoulder}}^{\text{roll}}$	35.76∘	4.15∘	31.01 ∘	37.41∘	5.82∘	31.59∘	45.46∘	9.78∘	35.68∘
${\theta }_{\text{shoulder}}^{\mathrm{yaw}}$	36.32∘	4.02∘	32.30 ∘	63.48∘	0.89∘	62.59∘	64.77∘	10.09∘	54.68∘
${\theta }_{\text{shoulder}}^{\text{pitch}}$	75.19∘	19.45∘	55.74 ∘	86.22∘	23.25∘	62.97∘	80.77∘	22.33∘	58.43∘
${\theta }_{\text{elbow}}^{\mathrm{yaw}}$	89.65∘	49.19∘	40.46∘	138.84∘	52.63∘	86.21∘	119.51∘	96.08∘	23.42 ∘
${\theta }_{\text{elbow}}^{\text{pitch}}$	97.21∘	29.48∘	67.73 ∘	108.68∘	19.25∘	89.42∘	96.07∘	22.27∘	73.79∘
${\theta }_{\text{wrist}}^{\text{roll}}$	3.39∘	−21.52∘	24.91 ∘	19.04∘	−21.07∘	40.11∘	15.32∘	−15.46∘	30.79∘
${\theta }_{\text{wrist}}^{\text{pitch}}$	1.22∘	−61.33∘	62.55∘	−0.27∘	−36.94∘	36.68∘	−6.50∘	−33.17∘	26.67 ∘