The Robotic Lumbar Spine: Dynamics and Feedback Linearization Control

Table 1

Desired angles of rotation for right bending [5].

Motion segment	𝛼 (°)^†	𝛽 (°)^†	𝛾 (°)^†
L5-S1	0.50	1.00	2.60
L4-L5	1.00	1.00	3.00
L3-L4	0.75	0.75	3.10
L2-L3	0.75	0.50	3.50
L1-L2	0.25	0.00	2.75

^†𝛼, 𝛽 and 𝛾 are the angles of rotations about 𝑥-, 𝑦-, and 𝑧-axes, respectively.