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Human Body SQ representation

Human Body SQ representation. Left arm Right arm. Left arm. Abbreviations : B – Body; LS – Left Shoulder; LA – Left Arm; E – Elbow; LF – Left Forearm. Parameters : - angle position of the Shoulder;. Transformation: B - LS. Superquadrics :. Left arm.

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Human Body SQ representation

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  1. Human Body SQ representation • Left arm • Right arm

  2. Left arm Abbreviations: B – Body; LS – Left Shoulder;LA – Left Arm; E – Elbow; LF – Left Forearm. Parameters: - angle position of the Shoulder; Transformation: B - LS Superquadrics:

  3. Left arm Transformation: LS - LA • We can express the arm rotation as a current frame rotation sequence: • 1° rotation  among x (clockwise) • 2° rotation  among z (anticlockwise) • 3° rotation  among y (clockwise) • 4° translation of a2 along y • Therefore the parameters for Left Arm are: • , , , δthat depend upon gesture • 22 + 4 (LS,RS,LHJ,RHJ) parameters that depend upon anthropometric

  4. Left arm Transformation: LA - E Transformation: E - LF • We can express the forearm rotation as a current frame rotation sequence: • 1° rotation δ among x (clockwise) • 2° translation of -a2 along y Full transformation: B - LF

  5. Right arm

  6. Right arm Transformation: B - RS Abbreviations: B – Body; RS – Right Shoulder;RA – Right Arm; E – Elbow; RF – Right Forearm. Superquadrics: Parameters: - angle position of the Shoulder;

  7. Right arm Transformation: RS - RA • We can express the arm rotation as a current frame rotation sequence: • 1° rotation  among x (clockwise) • 2° rotation  among z (clockwise) • 3° rotation  among y (anticlockwise) • 4° translation of a2 along y • Therefore the parameters for Right Arm are: • , , , δthat depend upon gesture • 22 + 4 (LS,RS,LHJ,RHJ) parameters that depend upon anthropometric

  8. Right arm Transformation: RA - E Transformation: E - RF • We can express the forearm rotation as a current frame rotation sequence: • 1° rotation δ among x (clockwise) • 2° translation of -a2 along y Full transformation: B - RF

  9. Left leg Version 1 – axes Z of limbs directed like axis Z of the Body

  10. Left leg Abbreviations: B – Body; LHJ – Left Hip Joint;LH – Left Hip; K – Knee; LL – Left Leg. Parameters: - angle position of the Left Hip Joint; Transformation: B - LHJ

  11. Left leg Transformation: LHJ - LH • We can express the leg rotation as a current frame rotation sequence: • 1° rotation  among x (clockwise) • 2° rotation  among y (anticlockwise) • 3° rotation  among z (clockwise) • 4° translation of -a3 along z • Therefore the parameters for Left Leg are: • , , , δthat depend upon gesture • 22 + 4 (LS,RS,LHJ,RHJ) parameters that depend upon anthropometric

  12. Left leg Transformation: LH - K Transformation: K - LL • We can express the leg rotation as a current frame rotation sequence: • 1° rotation δ among y (clockwise) • 2° translation of a3 along z Full transformation: B - LL

  13. Right leg Version 1 – axes Z of limbs directed like axis Z of the Body

  14. Right leg Abbreviations: B – Body; RHJ – Right Hip Joint;RH – Right Hip; K – Knee; RL – Right Leg. Transformation: B - RHJ Parameters: - angle position of the Left Hip Joint;

  15. Right leg Transformation: RHJ - RH • We can express the leg rotation as a current frame rotation sequence: • 1° rotation  among x (anticlockwise) • 2° rotation  among y (anticlockwise) • 3° rotation  among z (anticlockwise) • 4° translation of -a3 along z • Therefore the parameters for Right Leg are: • , , , δthat depend upon gesture • 22 + 4 (LS,RS,LHJ,RHJ) parameters that depend upon anthropometric

  16. Right leg Transformation: RH - K Transformation: K - RL • We can express the leg rotation as a current frame rotation sequence: • 1° rotation δ among y (clockwise) • 2° translation of a3 along z Full transformation: B - RL

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