Fig. 2
From: Real-time inverse kinematics for the upper limb: a model-based algorithm using segment orientations
Representative screenshot of the tool developed for visual inspection of \(F \left( {\theta _\mathtt{{flex}}}, \sigma \right) \) [defined in (6)]. The interactive MATLAB script allows simulation of different user-defined wrist configurations through separate sliders for \(\theta _\mathtt{{dev\_c}}\) and \(\theta _\mathtt{{flex\_c}}\) while plotting all relevant information about the optimization problem. The two thinner vertical black lines located at \(\pm 35 ^\circ \) indicate model-defined limits for \(\theta _\mathtt{{flex}}\)