Figure 1.

Experimental setup with the subject performing self-paced multi-joint movements with the upper limb exoskeleton robot. The dashed—line arrows mark the axis shoulder horizontal adduction-abduction, elbow flexion-extension, and wrist flexion-extension axes. The double—headed arrows indicate the arm adjustment of the robot. The other degrees of freedom of the robot have been omitted from the figure for clarity. EMG electrodes 1 to 6 were used to record muscle EMGs from the anterior deltoid, posterior deltoid, biceps brachii, triceps long head, flexor carpi radialis, and extensor carpi radialis muscles of the dominant arm of the subject, respectively.