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Fig 1 - Virtual decomposition control of an exoskeleton robot arm

Fig. 1. Joint range of motion of ETS-MARSE. (a) shoulder joint: horizontal flexion/extension; (b) shoulder joint: vertical flexion/extension; (c) shoulder joint: internal/external rotation; (d) elbow flexion/extension; (e) forearm pronation/supination; (f) wrist flexion/extension; (g) radial/ulnar deviation.
Joint range of motion of ETS-MARSE. (a) shoulder joint: horizontal flexion/extension; (b) shoulder joint: vertical flexion/extension; (c) shoulder joint: internal/external rotation; (d) elbow flexion/extension; (e) forearm pronation/supination; (f) wrist flexion/extension; (g) radial/ulnar deviation.
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