An Augmented Discrete-Time Approach for Human-Robot Collaboration

Table 1

D-H parameters of the human arm.

Joint
1	(0°)	0	0
2	(90°)	0	0
3	(−90°)		0
4	(180°)	0	0
5	(90°)		0
6	(−90°)	0	0
7	(180°)	0