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Denavit–Hartenberg parameters of the EXOTIC exoskeleton. Parameters Lu and Lf correspond to the lengths of the upper arm and forearm, respectively, which are both adjustable.
| Link | ai | αi | di | θi |
|---|---|---|---|---|
| 1 | 0 | π/2 | 0 | π/2 − θ1 |
| 2 | 0 | π/2 | Lu | π + θ2 |
| 3 | 0 | −π/2 | 0 | θ3 |
| 4 | 0 | 0 | Lf | θ4 |
