“…A dynamic model of the human whole body, consisting of 16 segments (head, thorax, lumbar, pelvis, upper arms, forearms, hands, thighs, shanks, and feet) and 45 degrees of freedom linkages for 15 joints (cervical, thoracic, lumbar, shoulders, elbows, wrists, hips, knees, and ankles), was used as in our previous study [8]. Joint centers were defined based on the previous studies [9,10].…”