Table 1.

Contributions of this paper with respect to closely related works.

Work	Method	Method inputs	Method evaluation	Metrics
[23]	EIKPE applied to single 1-DOF joint movements	(a) Exoskeleton and Human link lengths (b) Exoskeleton joint angles	(1) Studied angles: elbow and wrist joint angles (2) Reference angles: obtained from marker-based MOCAP (3) Movements: single 1-DOF elbow and wrist joint movements (wearing the Exoskeleton)	RMSE of elbow and wrist angles
[21]	Estimation of the arm swivel angle such that the hand is efficiently retracted towards the head region	(a) Shoulder position (b) Initial elbow position (c) Wrist pose (d) Point on the head region that minimizes the estimation errors	(1) Studied angles: arm swivel angle (2) Reference angles: obtained from redundant marker-based MOCAP (3) Movements: compound movements of (a) object reaching and (b) rotation of a doorknob (not wearing the Exoskeleton)	Mean absolute error of the arm swivel angle
This paper	EIKPE applied to compound movements (multi-DOF and multi-joint)	Same as [23]	(1) Studied angles: GH and elbow joint angles (2) Reference angles: obtained from redundant marker-based MOCAP (3) Movements: compound movement of object prehension (wearing the Exoskeleton)	(i) LFM, RMSE, and ROM error of the GH and elbow angle estimations provided by the Exoskeleton and EIKPE (ii) Statistical significance test of the results of RMSE and ROM errors