Figure 2
From: A survey on robotic devices for upper limb rehabilitation
Main movements (degrees of freedom) of the upper extremity. 1: arm flexion/extension; 2: arm adduction/abduction; 3: arm internal(medial)/external(lateral) rotation; 4: elbow flexion/extension; 5: forearm pronation/supination; 6: wrist flexion/extension; 7: wrist adduction(ulnar deviation)/abduction(radial deviation); 8: hand grasp/release.