Table 1.

Requirements for movable limbs design.

Design Requirements
Total weight	5 kg
Torque at shoulder	2.1 Nm (Flexion, extension)
	2.1 Nm (Abduction)
	0.36 Nm (Internal/external rotation)
Torque at elbow	0.36 Nm (Flexion)
Joint speed range	≈50–150 deg/s
System Autonomy	1 h
Human dimensions	≈33.3 cm shoulder—elbow
(proportional to a	≈29 cm elbow—knuckles
1.65 m female)	≈7.3 cm shoulder—chin