Table 1 Specifications of Robot arm
From: A role of multi-modal rhythms in physical interaction and cooperation
Joint | Â | Min [deg] | Max [deg] | Max speed [deg/s] |
|---|---|---|---|---|
Shoulder | Revolution | - 45 | 135 | 75 |
| Â | Turning | 0 | 120 | 113 |
Upper arm | Revolution | - 90 | 135 | 340 |
Elbow | Turning | 0 | 120 | 93 |
Front arm | Revolution | - 90 | 90 | 250 |
Wrist | Roll | - 180 | 180 | 280 |
| Â | Pitch | - 80 | 80 | 280 |