Fig. 3From: Real-time inverse kinematics for the upper limb: a model-based algorithm using segment orientationsRepresentative simulated movement pattern used for algorithm validation. Simulated movement patterns were generated to validate the proposed kinematic algorithm. 100 separate pseudo-random joint coordinate trajectories were constructed as 5th order Bézier-curves having 5 s duration and 100 Hz sampling frequency. PMx and VMx marker trajectories were calculated with our forward kinematics MATLAB function to generate simulated “measurement” data for the proposed algorithm and OpenSimBack to article page