Real-Time Inverse Kinematics of the Human Arm-Reference-Cited by-同舟云学术

Real-Time Inverse Kinematics of the Human Arm

Published:1996-01 Issue:4 Volume:5 Page:393-401
ISSN:1054-7460
Container-title:Presence: Teleoperators and Virtual Environments
language:en
Short-container-title:Presence: Teleoperators & Virtual Environments

Author:

Tolani Deepak¹,Badler Norman I.¹

Affiliation:

1. Center for Human Modeling and Simulation, Department of Computer and Information Science, University of Pennsylvania, Philadelphia, Pennsylvania 19104.

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.

Publisher

MIT Press - Journals

Subject

Computer Vision and Pattern Recognition,Human-Computer Interaction,Control and Systems Engineering,Software

Link

https://www.mitpressjournals.org/doi/pdf/10.1162/pres.1996.5.4.393

Reference2 articles.

1. Dealing with the ill-conditioned equations of motion for articulated figures

2. Sensorimotor representations for pointing to targets in three-dimensional space

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