Fig. 2From: Exploiting upper-limb functional principal components for human-like motion generation of anthropomorphic robotsSchematics of the experimental setup. In Subfigure A we show a picture of a subject wearing markers on the upper limb. Subfigures B and C detail the experimental setup. Arm and forearm are tracked using six markers each, while the hand is tracked using four markers. Four additional markers are placed on the subject’s chest to track the reference. Markers are redundant and fastened on rigid supports. 10 stereo-cameras are placed around the scene to minimize marker occlusionBack to article page