. Author manuscript; available in PMC: 2014 Aug 5.

Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2011;2011:4183–4186. doi: 10.1109/IEMBS.2011.6091038

TABLE I.

Anthropometric Data and Functional Range of Motion

Dimension name	Demonstrator	Imitator
Upper Arm Length	0.33 m	0.16 m
Forearm Length	0.27 m	0.12 m
Shoulder Horizontal Adduction (θ₁)^†	0° to 120°	0° to 120°
Elbow Horizontal Flexion (θ₂)^†	0° to 120°	0° to 120°

^†

The 0° start position for establishing the degrees of each motion is 90° shoulder abduction and 90° elbow extension, respectively (Fig. 2a).