Table A1. Constraints number.

Constraint n°	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19	20	21	22	23	24	25
Upp Sens	z−2	z−1	h	z	z2	z−2	z−1	h	z	z2	z−2	z−1	h	z	z2	z−2	z−1	h	z	z2	z-2	z−1	h	z	z2
Lw Sens	z−2	z−2	z−2	z−2	z−2	z−1	z−1	z−1	z−1	z−1	h	h	h	h	h	z	z	z	z	z	z2	z2	z2	z2	z2

Note:

Constraint number associated to constraint axes combinations for joint angles.