Table 3 Axis and angle notations
From: Real-time inverse kinematics for the upper limb: a model-based algorithm using segment orientations
Anatomical joint | Degree of freedom | Identifier | Rotation axis | Rotation angle |
|---|---|---|---|---|
Shoulder | Elevation plane | elv | \(\mathbf {r}_\mathtt{{elv}}\) | \(\theta _\mathtt{{elv}}\) |
Thoracohumeral (elevation) angle | sh_elv | \(\mathbf {r}_\mathtt{{sh\_elv}}\) | \(\theta _\mathtt{{sh\_elv}}\) | |
Axial rotation | sh_rot | \(\mathbf {r}_\mathtt{{sh\_rot}}\) | \(\theta _\mathtt{{sh\_rot}}\) | |
Elbow | Elbow flexion | el_flex | \(\mathbf {r}_\mathtt{{el\_flex}}\) | \(\theta _\mathtt{{el\_flex}}\) |
Forearm rotation | pro_sup | \(\mathbf {r}_\mathtt{{pro\_sup}}\) | \(\theta _\mathtt{{pro\_sup}}\) | |
Wrist | Deviation | dev | \(\mathbf {r}_\mathtt{{dev}}\) | \(\theta _\mathtt{{dev}}\) |
Flexion | flex | \(\mathbf {r}_\mathtt{{flex}}\) | \(\theta _\mathtt{{flex}}\) | |
Proximal-distal r1 | pdr1 | \(\mathbf {r}_\mathtt{{pdr1}}\) | \(\theta _\mathtt{{pdr1}}\) | |
Proximal-distal r3 | pdr3 | \(\mathbf {r}_\mathtt{{pdr3}}\) | \(\theta _\mathtt{{pdr3}}\) |