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The aim of this research was to develop a theoretical m ethod fo r the ergonom ic optim ization of the w ork space of the upper limb. This method is based on a model o f the upper extremity with 7 degrees of freedom. It consists of 3 rigid elements modeling the arm, forearm, and hand and 34 upper extremity muscles. The trunk is considered immobile. The shoulder jo in t is m odeled as a rotating kinem atics pair of third class, the elbow and wrist joints-o f fourth class. The m inim um sum ofdoi:10.1080/10803548.1999.11076413 pmid:10602641 fatcat:e2xcnueqzrhibjagxzanjp4h5e