Expanded Saul et al. (2015) arm model with 20 degrees of freedom of the elbow, wrist, and hand. The added degrees of freedom follow cardan Euler angles. The original anatomical degrees of freedom are locked. The dimensions and inertial parameters of segments are based on published anthropometric data for an average human (Winter 2009 and Kodak 2007). The model was used for testing a segmented forearm model of hand pronation-supination (Yough et al. 2021).

Contributors to the model:
Matthew Yough
Russell Hardesty
Matthew Boots
Sergiy Yakovenko
Valeriya Gritsenko