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DOFs in the BOTAS hardware. (A) Joints of the shoulder, elbow, wrist, and fingers were driven by actuators according to control commands (θ1, θ4, θ5, θ7, θ8, and θ9). (B) According to participant physical size or task requirement, the angles in the shoulder joint (θ2 and θ3) and the wrist joint (θ6) and the link length of the upper arm, forearm, and fingers (L1–L5) can be adjusted.
