Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Experiment Videos

Determining natural arm configuration along a reaching trajectory.

Tao Kang1, Jiping He, Stephen I Helms Tillery

  • 1The Biodesign Institute and Harrington Department of Bioengineering, Arizona State University, Tempe, AZ, USA.

Experimental Brain Research
|October 21, 2005
PubMed
Summary

This study presents a novel method for 3-D inverse kinematics by minimizing joint torque work. The approach accurately predicts human arm movements, offering insights into neuromuscular control and robotic applications.

Related Concept Videos

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Bisphenol a exposure induces low back pain associated with intervertebral disc degeneration via BIRC3-mediated nucleus pulposus cell senescence.

Toxicology and applied pharmacology·2026
Same author

The effects of Tai Chi Chuan combined with unstable resistance training on knee muscle strength and dynamic balance in female college students: a randomized controlled study protocol.

Frontiers in public health·2026
Same author

Targeting the MICA-mediated oxidative stress-immune axis: a novel therapeutic strategy for ankylosing spondylitis.

Clinical and experimental rheumatology·2026
Same author

Predictive Performance of VBQ Scores and Hounsfield Units for Subsequent Fractures After Vertebral Augmentation: A Systematic Review and Meta-analysis.

Academic radiology·2026
Same author

Complete Atrioventricular Block: An Exceedingly Rare Manifestation of Pituitary Crisis in Sheehan Syndrome.

CJC open·2026
Same author

NAD(P)H: quinone oxidoreductase 1-mediated oxidative stress resistance and tumor microenvironment remodeling in glioblastoma.

Neuro-oncology·2026

Area of Science:

  • Biomechanics
  • Robotics
  • Human Movement Analysis

Background:

  • Human motor control exhibits flexible arm configurations for consistent hand trajectories.
  • Understanding the underlying principles of human movement is crucial for robotics and rehabilitation.

Purpose of the Study:

  • To develop and validate a computational method for solving the 3-D inverse kinematics problem.
  • To model human arm movement trajectories based on minimizing joint torque work.

Main Methods:

  • Proposed a 3-D inverse kinematics algorithm minimizing total joint torque work.
  • Compared algorithm-generated joint trajectories with human arm movement data in a 3-D workspace.
  • Evaluated humeral rotation predictions against existing models.

Related Experiment Videos

Main Results:

  • The method demonstrated high agreement (r2 > 0.98) with observed human joint trajectories, except for shoulder adduction/abduction.
  • Predictions for humeral rotation showed strong correlation (r2 > 0.98) and minimal distortion compared to other models.
  • Discrepancies in shoulder movement suggest the need for additional constraints when only hand path is known.

Conclusions:

  • Minimizing joint torque work is an effective strategy for modeling human arm kinematics.
  • The proposed method provides a robust framework for predicting human movement and can inform robotic control.
  • Further research is needed to incorporate additional constraints for precise modeling of all joint movements, particularly shoulder adduction/abduction.