Motor Ability Evaluation of the Upper Extremity with Point-To-Point Training Movement Based on End-Effector Robot-Assisted Training System

Table 2

The origin and coordinate system of human upper limb joints.

	Thorax
	The origin coincident with
	The common line perpendicular to the -axis and -axis, pointing forward.
	Pointing upward.
	The line connecting and , pointing to .
	Shoulder
	The origin coincident with
	The line perpendicular to the plane formed by EL, EM, and AC, pointing forward.
	The line connecting and the midpoint between and , pointing proximally.
	The common line perpendicular to the -axis and -axis, pointing right.
	Elbow
	The midpoint between and .
	The line perpendicular to the plane formed by , , and , pointing forward.
	The line connecting and , pointing upward.
	The common line perpendicular to the - axis and -axis, pointing right.
	Wrist
	The midpoint between and .
	The common line perpendicular to the -axis, and -axis.
	The line connecting and , pointing proximally.
	The line perpendicular to the plane through the , RS, and the midpoint between and .
	Hand
	The origin is coincident with .
	Same as -axis.
	Same as -axis.
	Same as -axis.