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.

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.

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