Abstract
A 3D musculoskeletal simulation with real-time body tracking was developed to simulate and analyze the operational space of human upper limb motion. The simulation was created in Unity3D, while the musculoskeletal models and definitions were imported from OpenSim. The real-time motion tracking was accomplished by integrating Optitrack® motion capture system and software (Motive) with Optitrack's NatNet SDK. The belted ellipsoid representation which indicates the direction of the limb's effective mass of inertia, was incorporated into the model's simulation. The ellipsoids were affixed to the model's hands and were defined and orientated based on the eigenvalues and eigenvectors of the derived 6 DOF mass matrix's inverse at each tracked joint configuration.