Research Article
A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation
Table 2
D-H parameter of Exorn.
| | (cm) | (deg) | (cm) | (deg) |
| | 10 | 90 | 0 | Θ1 | | 12 | 0 | 5 | Θ2 | | 6 | 90 | 2 | Θ3 | | 3 | −90 | 0 | Θ4 | | 31 | 0 | −2.5 | Θ5 | | 0 | 90 | 6 | Θ6 | | 3 | 0 | 35 | Θ7 | | 0 | 90 | 2.5 | Θ8 | | 0 | −90 | 4 | Θ9 | | 0 | 0 | 8 | Θ10 |
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