Research Article

Vision System-Based Design and Assessment of a Novel Shoulder Joint Mechanism for an Enhanced Workspace Upper Limb Exoskeleton

Figure 2

Coronal plane back view representing the CR displacement of the shoulder driven by the clavicle and scapula in (a) resting position, (b) abduction, (c) elevation, and (d) depression. Dotted lines represent the sternoclavicular joint position as reference and dashed lines represent the displacement limits of the acromioclavicular joint (∆).