Table 1.

DH Parameters of the human arm

i	θ i	d i	a i	α i
1	π/2+q1	0	0	π/2
2	3π/2+q2	0	0	π/2
3	q 3	l u	0	−π/2
4	π/2+q4	0	0	π/2
5	π/2+q5	l f	0	π/2
6	π/2+q6	0	0	π/2
7	π/2+q7	0	0	π/2