Real-time inverse kinematics of the human arm.

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.