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Department of Computer & Information Science |
Center for Human Modeling and Simulation
TITLE:
Real-Time Inverse Kinematics of the Human Arm
AUTHOR(S):
Norman I. Badler, University of Pennsylvania
Deepak Tolani, University of Pennsylvania
DOCUMENT TYPE: Journal Article
This document has been peer reviewed.
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Copyright Massachusetts Institute of Technology. Reprinted from Presence, Volume 5, Issue 4, 1996, pages 393-401.
ABSTRACT:
A simple inverse kinematics procedure is proposed for a seven degree of freedom model of the human arm. Two schemes are used to provide an additional constraint leading to closed-form analytical equations with an upper bound of two or four solutions. Multiple solutions can be evaluated on the basis of their proximity from the rest angles or the previous configuration of the arm. Empirical results demonstrate that the procedure is well suited for real-time applications.
DATE POSTED: 01 August 2007