Center for Human Modeling and Simulation
Title
Real-Time Inverse Kinematics of the Human Arm
Document Type
Journal Article
Date of this Version
January 1996
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.
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Date Posted: 01 August 2007
This document has been peer reviewed.
Comments
Copyright Massachusetts Institute of Technology. Reprinted from Presence, Volume 5, Issue 4, 1996, pages 393-401.