Table 1 Joint ranges of individual DOFs.

From: Reinforcement learning control of a biomechanical model of the upper extremity

Joint DOF

Joint angle ranges (deg)

Joint torque ranges (Nm)

Minimum

Maximum

Minimum

Maximum

Elevation angle

− 90

130

− 36.01

36.01

Shoulder elevation

0

180

− 60.97

60.97

Shoulder rotation

− 90

20

− 19.37

19.37

Elbow flexion

0

130

− 12.57

12.57

Pronation/supination

− 90

90

− 1.03

1.03

Wrist deviation

− 10

25

− 2.14

2.14

Wrist flexion

− 70

70

− 1.53

1.53

  1. Angle and torque ranges of all joint DOFs, which are actuated via second-order muscle dynamics [Eq. (4)]. Moment arm scaling factors are defined as the magnitude of the torque range limits.
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