Optoelectronic Vicon (Oxford UK) 10 TVC System (Subjects wear a set of eleven markers, positioned on T8 and C7 vertebras, jugular notch, xiphoid process, greater tubercle, medial and lateral humeral epicondyles, styloid process of the ulna and the radial, second and fifth metacarpal heads. Six markers are placed also on the robot to track the movement, three of these positioned on the base to represent the reference axes; one on the top of the right driven pulley; one on the right joint and the last one on the end-effector).
Subjects are also instrumented with 16 wireless s-EMG probes (Cometa, Milan, Italy) positioned on the following muscles: Erector Spinae (ES), Middle Trapezius (MT), Upper Trapezius (UT), Infraspinatus (IF), Deltoid Anterior (DA), Deltoid Middle (DM), Deltoid Posterior (DP), Pectoralis (PC), Triceps Long Head (TLo), Triceps Lateral Head (TLa), Biceps Long Head (BCl), Biceps Short Head (BCs), Brachioradialis (BR), Pronator Teres (PT), Wrist Flexors (WF) and Wrist Extensors (WE).