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

Table 3

DH parameters for kinematic model of human right limb.

Frame					Motion range (deg)
3		0	0	0	−60∼155
4			0	0	−150∼35
5			0		−80∼60
6			0	0	−90∼70
7			0		−95∼85
8			0	0	−35∼65
9					−35∼20