A Kinematic Model of the Human Spine and Torso

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Technical Reports (CIS)
General Robotics, Automation, Sensing and Perception Laboratory
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GRASP
Computer Engineering
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Monheit, Gary
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In order to advance current human figure motion models, a more realistic model of the body must include a flexible torso and spine. The spinal column is a series of interdependent joints with three degrees of rotational freedom. A study of anatomical architecture supports the model's principal ideas, and indicates the parameters for spinal movement. By defining a database of spine attributes (obtained from medical data), and a small set of input parameters, inverse kinematic control of the spine may be achieved.

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1990-08-29
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University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-90-77.
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