. Author manuscript; available in PMC: 2014 Oct 24.

Published in final edited form as: IEEE Trans Biomed Eng. 2012 Dec 10;60(5):1250–1258. doi: 10.1109/TBME.2012.2232293

Table I. DOF Configurations Tested in this Study.

Number of DOFs	DOFs	Discrete Motion Classes	Combined Motion Classes
2	Hand, Wrist	HO/HC, WE/WF	WE+HO, WE+HC WF+HO, WF+HC
2	Hand, Rotation	HO/HC, WS/WP	WS+HO, WS+HC WP+HO, WP+HC
3	Hand, Wrist Rotation	HO/HC, WE/WF WS/WP	WE+HO, WE+HC WF+HO, WF+HC WS+HO, WS+HC WP+HO, WP+HC
3	Hand, Wrist Rotation	HO/HC, WE/WF WS/WP	WE+HO, WE+HC WF+HO, WF+HC WS+HO, WS+HC WP+HO, WP+HC WE+WS, WE+WP WF+WS, WF+WP

Classes include discrete motions, combined motions, and no motion.