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Using the models, a sweeping algorithm to generate three-dimensional isocomfort workspace was developed, in which the robot kinematics was employed to describe the translational relationships between the upper arm and the lower arm/hand.
The angle of shoulder flexion was calculated from the angle between the upper arm vector (varvec{r}_{varvec{u}}) and the vertical line (0, 0, −1), as follows: varphi = cos^{ - 1} left( {frac{{ - z_{u} }}{{sqrt {x_{u}^{2} + y_{u}^{2} + z_{u}^{2} } }}} right), (27).
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Dissection was done between the brachioradialis and the triceps muscles in the upper arm and between the extensor carpi radialis and the anconeus in the forearm.
Deltoid Muscle (Upper arm muscle): Completely expose the upper arm.
With the forearm held at a right angle, a mark is made at the mid-point of the upper arm between the olecranon process of the ulna and the acromial process of the scapula.
If an attacker wraps their arms around you or is close enough to touch, first try to pinch them in one of two places: inside the upper arm (between the elbow and the armpit) or the upper inner thigh.
The proximal electrode was positioned exactly on the distal one-quarter point of the upper arm, measured between the coracoid and the elbow crease.
The triceps skin fold was measured from a vertical skin fold on the posterior aspect of the upper arm, halfway between the olecranon and the acromion with the arm hanging by the individual's side.
Triceps skinfold thickness was the vertical fold measured at the posterior midline of the upper arm, halfway between the tip of the shoulder and tip of the elbow while the elbow remained in an extended and relaxed position.
The tricep skinfold measurement is taken on the back of the upper arm midway between the shoulder and elbow.
Triceps skinfold is a vertical fold measurement performed on the posterior midline of the upper arm, half way between the acromion and the olecranon processes.
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