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Fig. 1 | BioMedical Engineering OnLine

Fig. 1

From: Real-time inverse kinematics for the upper limb: a model-based algorithm using segment orientations

Fig. 1

Representations of the used upper limb model with reference poses and markers. a Screenshot taken from OpenSim while displaying the used full arm model. The reference configuration is shown as a shaded overlay on an actual example configuration determined by the joint angle vector [\(\theta _\mathtt{{elv}}\) = \(0^\circ \), \(\theta _\mathtt{{sh\_elv}}\) = \(63^\circ \), \(\theta _\mathtt{{sh\_rot}}\) = \(15^\circ \), \(\theta _\mathtt{{el\_flex}}\) = \(95^\circ \), \(\theta _\mathtt{{pro\_sup}}\) = \(-60^\circ \), \(\theta _\mathtt{{dev\_c}}\) = \(0^\circ \), \(\theta _\mathtt{{flex\_c}}\) = \(20^\circ \)]. b Representation of the model’s exported structure in MATLAB producing the same actual configuration as in sub-figure (a) using the developed forward kinematics function (functionally equivalent to OpenSim’s version). c Locations of prototype markers that are solely used to the reconstruction of model-defined anatomical joint angles with the proposed algorithm. d Locations of virtual markers that are used for the algorithm validation process by serving as inputs to OpenSim’s inverse kinematics tool directly

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