Table 1.

Description of the different conditions examined in this paper.

NTF	Neutral, Flexional torque	Exoskeleton applies a flexion torque while the arm is posed at neutral without muscle contraction or arm movement
ECF	Extensor muscles Contracted, Flexional torque	Exoskeleton generates a flexion torque while the Extensor muscles are isometrically contracted
FCF	Flexor muscles Contracted, Flexional torque	Exoskeleton generates a flexion torque while the Flexor muscles are isometrically contracted
EMF	Extensional Movement, Flexional torque	Exoskeleton generates a flexion torque while the arm is moving in the extensional direction
FMF	Flexional Movement, Flexional torque	Exoskeleton generates a flexion torque while the arm is moving in the flexional direction
NTE	Neutral, Extensional torque	Exoskeleton generates an extension torque while the arm is posed without muscle contraction or arm movement
ECE	Extensor muscles Contracted, Extensional torque	Exoskeleton generates an extension torque while the Extensor muscles are isometrically contracted
FCE	Flexor muscles Contracted, Extensional torque	Exoskeleton generates an extension torque while the Flexor muscles are isometrically contracted
EME	Extensional Movement, Extensional torque	Exoskeleton generates an extension torque while the arm is moving in the extensional direction
FME	Flexional Movement, Extensional torque	Exoskeleton generates an extension torque while the arm is moving in the flexional direction