A Kinematic Model of the Human Arm Using Triangular B ezier Spline Surfaces

This paper presents a kinematic model of the human arm in which the workspace of the elbow is modeled as a triangular B ezier spline surface. It is also explained how this model is used for solving forward and inverse kinematics in computer animation systems. In order to solve inverse kinematics problems, it is necessary to nd a curve on the surface modeling the elbow workspace. This curve is obtained as the intersection of the surface and a sphere. We present an algorithm for computing this curve, using the fact that triangular B ezier patch can be eeciently subdivided, and using an oct-tree data structure that prunes the search space eeciently.

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