A computer-aided analysis procedure is developed to obtain biomechanical information for unassisted and assisted upper extremity systems. An automated assembly procedure is derived which determines the equations of motion for a linkage consisting of N links connected by ball and socket joints and/or pin joints. Springs may be attached between the links or between the links and ground. The major advantage of this procedure is that the lengthy and time-consuming derivations required to obtain the equations of motions using other methods are eliminated. The procedure automatically writes the equations of motion based on the input data alone. Changes in the linkage being analyzed require changes in input data; the basic program does not have to be modified. In particular the basic program does not depend upon the nature of the links or the types of joints.

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