Mechanical Energy Expenditure-based Comfort Evaluation Model for Gesture Interaction

Table 3

Trajectories represented by parameters of joint angles in joint space.

Input	θA	θB	θC	θD
θ1	[60°, −90°]	[60°, −90°]	45°	−90°
θ2	0°	[0°, 150°]	[10°, −60°]	[10°, −60°]
θ3	0°	[30°, 0°]	0°	0°
θ4	0°	[120°, 60°]	[0°, −90°,0°]	[0°, −90°, 0°]
θ5	0°	90°	0°	0°
θ6	0°	−30°	10°	0°
θ7	0°	0°	0°	0°