P#	Description	( ${\mathit{\theta }}_{\mathit{S}}$ , ${\mathsf{\Phi }}_{\mathit{S}}$ , ${\mathit{\theta }}_{\mathit{E}}$ , ${\mathsf{\Phi }}_{\mathit{E}}$ , ${\mathit{R}}_{\mathit{W}}$ )
P1	Shoulder relaxed, elbow flexed 45, neutral wrist	(0, 0, 45, 0, 0)
P2	Shoulder relaxed, elbow flexed 90, neutral wrist	(0, 0, 90, 0, 0)
P2s	Shoulder relaxed, elbow flexed 90, supinated wrist	(0, 0, 90, 0, 90)
P2p	Shoulder relaxed, elbow flexed 90, pronated wrist	(0, 0, 90, 0, −90)
P3	Shoulder relaxed, elbow flexed 135, neutral wrist	(0, 0, 135, 0, 0)
P3s	Shoulder relaxed, elbow flexed 135, supinated wrist	(0, 0, 135, 0, 90)
P3p	Shoulder relaxed, elbow flexed 135, pronated wrist	(0, 0, 135, 0, −90)
P4	Shoulder relaxed, elbow relaxed, neutral wrist	(0, 0, 0, 0, 0)
P5	Shoulder hyperextension 30, elbow relaxed, neutral wrist	(−30, 0, 0, 0, 0)
P6	Shoulder hyperextension 30, elbow flexed 90, neutral wrist	(−30, 0, 90, 0, 0)
P7	Shoulder flexion 45, elbow relaxed, neutral wrist	(45, 0, 0, 0, 0)
P8	Shoulder flexion/abduction 45, elbow relaxed, neutral wrist	(45, 45, 0, 0, 0)
P9	Shoulder flexion 90, elbow relaxed, neutral wrist	(90, 0, 0, 0, 0)
P9s	Shoulder flexion 90, elbow relaxed, supinated wrist	(90, 0, 0, 0, 90)
P9p	Shoulder flexion 90, elbow relaxed, pronated wrist	(90, 0, 0, 0, −90)
P10	Shoulder flexion 90, elbow flexion 90, neutral wrist	(90, 0, 90, 0, 0)
P11	Shoulder flexion 90, elbow adduction 90, neutral wrist	(90, 0, 0, −90, 0)
P12	Shoulder flexion/abduction 90, elbow relaxed, neutral wrist	(90, 90, 0, 0, 0)
P13	Shoulder flexion 110, elbow relaxed, neutral wrist	(110, 0, 0, 0, 0)
P14	Shoulder flexion 135, elbow relaxed, neutral wrist	(135, 0, 0, 0, 0)
P15	Shoulder abduction 30, elbow flexion 90, neutral wrist	(0, 30, 90, 0, 0)
P16	Shoulder abduction 45, elbow relaxed, neutral wrist	(0, 45, 0, 0, 0)
P17	Shoulder abduction 75, elbow flexion 90, neutral wrist	(0, 75, 90, 0, 0)
P18	Shoulder abduction 90, elbow relaxed, neutral wrist	(0, 90, 90, 0, 0)
P19	Shoulder abduction 90, elbow flexed 90, wrist neutral	(0, 90, 90, 0, 0)
P20	Torso horizontal, shoulder relaxed, elbow relaxed, neutral wrist	(0, 0, 0, 0, 0)