A Bioinspired 10 DOF Wearable Powered Arm Exoskeleton for Rehabilitation

Table 3

Segment mass and lengths of human arm [8].

Segment	Segment mass/total body mass	Centre of mass/segment length		Radius of gyration/segment length
		Proximal	Distal	CM	Proximal	Distal
Hand	0.006	0.506	0.494	0.297	0.587	0.577
Forearm	0.016	0.430	0.570	0.303	0.526	0.647
Upperarm	0.028	0.436	0.564	0.322	0.542	0.645
Forearm and Hand	0.022	0.682	0.318	0.468	0.827	0.565
Total arm	0.050	0.530	0.470	0.368	0.645	0.596