A comparative study of human inverse kinematics techniques for lower limbs

Inverse Kinematics (IK) has been an active research topic and many methods have been introduced to provide a fast and accurate solution. However, high computational cost and the generation of unrealistic positions constitute the weak points in most existing IK methods. In this paper, a comparative study was established to analyze the performance of popular IK techniques applied to the human leg. The objective is to determine the most efficient method in terms of computation time and to reach the desired position with a realistic human posture while respecting the range of motion and joint comfort zones of every joint.