Kinematic redundancy resolution for replicating natural posture of human arm by performing constrained muscle-effort minimization (considering wrist pose and range of joint motion) with a human arm musculoskeletal model and OpenSIM C++ API.

This repository describes kinematics of shoulder joint which is highly complex with multiple internal joints rather than conventional 3 DOF ball joint model.

A free and open-source toolkit has been developed using an anthropomorphic arm model, allowing any data set containing joint angles over time to be implemented to visualise motion for kinematic analysis.