Inverse Kinematics of a Human Arm

This paper describes a new inverse kinematics algorithm for a human arm. Potential applications of this algorithm include computer-aided design and concurrent engineering from the viewpoint of human factors. For example, it may be used to evaluate a new design in terms of its usability and to automatically generate instruction videos. The inverse kinematics algorithm is based on a sensorimotor transformation model developed in recent neurophysiological experiments. This method can be applied to both static arm postures and human manipulation motions.

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