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In order to evaluate the manipulation ability of the upper limb, we applied the analysis of the mechanism of robot manipulators. The effect of individual's muscular power characteristics on the easiness of hand force manipulation is expressed in the six-dimensional ellipsoid. The spatial characteristic of the manipulation ability of the upper limb in three-dimensional space was clarified by the visualization of the six-dimensional ellipsoid using two projection methods. As examples, we analyzed wheelchair propulsion, then the effectiveness of our evaluation methods were examined. Our evaluation methods will be useful for the development of equipments based on the manipulation ability of the upper limb.

Three-Dimensional Spatial Expression of the Manipulation Ability of the Upper Limb Considering Asymmetry of Maximum Joint Torque