| No & Joint Name (Left) | Motion Name (English) | Engineering Name |
| Joint #2 Trunk | Flexion | pitch (−) |
| Extension | Pitch (+) | |
| Leftward rotation | roll (−) | |
| Rightward rotation | Roll (+) | |
| Left horizontal rotation | yaw (−) | |
| Right horizontal rotation | Yaw (+) | |
| Joint #3 Neck | Flexion | Pitch (+) |
| Extension | pitch (−) | |
| Right flexion | Roll (+) | |
| Left flexion | roll (−) | |
| Right rotation | Yaw (+) | |
| Left rotation | yaw (−) | |
| Joint #4 Left Shoulder | Flexion | Pitch (−) |
| Extension | Pitch (+) | |
| Adduction | roll (−) | |
| Abduction | Roll (+) | |
| Internal rotation | Yaw (+) | |
| External rotation | yaw (−) | |
| Horizontal adduction | Yaw (+) | |
| Horizontal abduction | yaw (−) | |
| Elevation | Trans. (−z) | |
| Depression | Trans. (+Z) | |
| Protraction | Trans. (+X) | |
| Retraction | Trans. (−x) | |
| Joint #5 Left Elbow | Flexion | pitch (−) |
| Extension | Pitch (+) | |
| Pronation | Yaw (+) | |
| Supination | yaw (−) | |
| Joint #6 Left Wrist | Flexion | pitch (−) |
| Extension | Pitch (+) | |
| Abduction | Roll (+) | |
| Adduction | roll (−) | |
| Joint #7 Left Hip Joint | Flexion | pitch (−) |
| Extension | Pitch (+) | |
| Adduction | roll (−) | |
| Abduction | Roll (+) | |
| Internal rotation | Yaw (+) | |
| External rotation | yaw (−) | |
| Joint #8 Left Knee | Flexion | Pitch (+) |
| Extension | pitch (−) | |
| Internal rotation | Yaw (+) | |
| External rotation | yaw (−) |