Table 2.
Mechanical—Body joints correspondence.
| Mechanical joint | DOF | Body joint |
|---|---|---|
| Spherical | 3 Rotations | Upper Neck |
| Spherical | 3 Rotations | Lower Neck |
| Spherical with Perpendicular | 2 Rotations (rotation along the long axis segment is removed) | Right/Left Shoulder |
| Revolute | 1 Rotation in the sagittal plane | Right/Left Elbow |
| Spherical | 3 Rotations | Lumbar Spine |
| Spherical | 3 Rotations | Thoracic Spine |
| Spherical with Perpendicular | 2 Rotations (rotation along the long axis segment is removed) | Right/Left Hip |
| Revolute | 1 Rotation in the sagittal plane | Right/Left Knee |
| Revolute | 1 Rotation in the sagittal plane | Right/Left Ankle |