Table 1.

ROM of the Robot and the Human wrist

Wrist Joint	Human joint range of motion [deg]	Wrist Device Workspace Capability [deg]	Human Isometric Torque [Nm]	Wrist Device Continuous torque [Nm]
Supination/Pronation	86/71	80/80	5.2	7.1
Flexion/Extension	73/71	70/70	19.8	12.4
Abduction/Adduction	33/19	35/35	20.8	12.9

comparison between range of motion and joint torque of a human [24-26] and the IIT-wrist device; the values of the continuous delivered torque are obtained by a design compromise between backdrivability and power requirements based on anthropometric data.