# Table 3 Axis and angle notations

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 $$\mathbf {r}_\mathtt{{pdr3}}$$ $$\theta _\mathtt{{pdr3}}$$
1. The table lists identifiers derived from the model file and notations of rotation axes and angles for all relevant degrees of freedom used for algorithm formulation 