Table 2.

Calculation of the joint angles in Monkey T. Joint angles were calculated from the two vectors presented in the right columns.

Joint angle	Two vectors
Elbow FE	Vector M2–M1	Vector M2–M4
PS	Projection of vector M2–M1 on the plane with the normal vector M2–M4	Projection of vector M3–M4 on the same plane
Wrist FE	Cross product of vector M4–M2 and vector M4–M3	Vector M5–M4
Wrist RU	Vector M4–M3	Vector M4–M5