Random Target Localization for an Upper Limb Prosthesis

Table 3

Inverse and positive solution results of testing points.

Test point	(mm)			(mm)			Joint angle (rad)				(mm)
1	−41	18	−500	−39.83	16.46	−498.82	−0.21	−0.26	0.32	−40.41	17.14	−498.77
2	−61	100	−98	−62.30	101.71	−96.63	−0.33	−1.84	2.62	−62.61	101.83	−96.09
3	−17	−42	−488	−18.66	−40.83	−489.37	−0.23	0.41	0.50	−18.91	−40.51	−489.63
4	−141	21	−486	−142.33	22.32	−484.84	−0.24	−2.37	0.15	−142.00	22.09	−484.76
5	23	−105	−463	21.50	−103.63	−465.08	−0.14	0.87	0.69	22.18	−103.14	−466.16
6	−39	−63	−489	−40.38	−64.44	−490.72	−0.20	0.84	0.42	−40.52	−64.37	−490.30
7	6	209	−270	7.69	210.57	−271.63	0.02	−1.56	1.68	7.71	210.72	−271.79
8	10	−121	−430	11.23	−122.21	−431.31	−0.27	0.77	0.98	11.64	−122.57	−431.84
9	62	15	−482	63.41	16.33	−483.36	−0.10	−0.15	0.56	63.41	16.83	−483.36
10	9	−141	−411	10.12	−142.53	−412.67	−0.27	0.87	1.08	10.86	−142.91	−412.77