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. 2014 Mar 3;8:24. doi: 10.3389/fncom.2014.00024

Figure 1.

Figure 1

Joint angle definition for the arm model. The four joint angles included in the model (shoulder adduction, shoulder flexion, shoulder external rotation, and elbow flexion) are illustrated by a sequence of postures in space of a two-link arm. The four rotation axes are indicated by colored arrows and correspond to the z-axes of the four reference frames defined according to the D-H notation (see text) and labeled z0z3.