Resumen
This article focuses on the concept of 3-D animations. Virtual humans could also be used in task feasibility studies in which a virtual agent and environment are used to simulate the performance of real-life tasks. Traditionally in robotics and computer graphics, homogeneous rotation matrices were used because of their simple and well-known representations of rotations. In each iteration, two parallel processes independently estimate the next possible configuration of both arms according to each hand sensor. The convergence of both arms is generally achieved after a few iterations, except when both arms are fully stretched out, in such a case the pseudo-inverse of the Jacobian is ill-conditioned. However, the primary importance of our approach is it is fast enough to achieve real-time telecollaboration among remote users in networked virtual reality environment. Compared to the more traditional technique using an additional sensor attached to the elbow, this approach loses certain fidelity with respect to elbow movements.