An inverse kinematical algorithm for human arm movement with comfort level taken into account

In accordance with the human´s feedback control mechanism of motor, comfort level, an ergonomics index is adopted as the performance function of the motor control for human arm. An algorithm based upon optimizing the comfort level is proposed is proposed to stimulate the human arm motor, which combines inverse kinematics, inverse dynamics and ergonomics. The algorithm avoids the violation between the human position and strength produced by pure kinematic simulation. To evaluate the approach, some arms reaching movement experiments were conducted. The theoretical and experimental results are in good agreement, which indicate that the algorithm is effective. Given the trajectory of arm end-effector, the algorithm could create dynamically and physiologically feasible arm motions.