Human Body SQ representation Left arm Right arm

Left arm Abbreviations: B – Body; LS – Left Shoulder; LA – Left Arm; E – Elbow; LF – Left Forearm. Parameters: - angle position of the Shoulder; Transformation: B - LS Superquadrics:

Left arm Transformation: LS - LA We can express the arm rotation as a current frame rotation sequence: 1° rotation  among x (clockwise) 2° rotation  among z (anticlockwise) 3° rotation  among y (clockwise) 4° translation of a2 along y Therefore the parameters for Left Arm are: , , , δ that depend upon gesture 22 + 4 (LS,RS,LHJ,RHJ) parameters that depend upon anthropometric

Left arm Transformation: LA - E Transformation: E - LF We can express the forearm rotation as a current frame rotation sequence: 1° rotation δ among x (clockwise) 2° translation of -a2 along y Full transformation: B - LF

Right arm

Right arm Transformation: B - RS Abbreviations: B – Body; RS – Right Shoulder; RA – Right Arm; E – Elbow; RF – Right Forearm. Superquadrics: Parameters: - angle position of the Shoulder;

Right arm Transformation: RS - RA We can express the arm rotation as a current frame rotation sequence: 1° rotation  among x (clockwise) 2° rotation  among z (clockwise) 3° rotation  among y (anticlockwise) 4° translation of a2 along y Therefore the parameters for Right Arm are: , , , δ that depend upon gesture 22 + 4 (LS,RS,LHJ,RHJ) parameters that depend upon anthropometric

Right arm Transformation: RA - E Transformation: E - RF We can express the forearm rotation as a current frame rotation sequence: 1° rotation δ among x (clockwise) 2° translation of -a2 along y Full transformation: B - RF

Left leg Version 1 – axes Z of limbs directed like axis Z of the Body

Left leg Abbreviations: B – Body; LHJ – Left Hip Joint; LH – Left Hip; K – Knee; LL – Left Leg. Parameters: - angle position of the Left Hip Joint; Transformation: B - LHJ

Left leg Transformation: LHJ - LH We can express the leg rotation as a current frame rotation sequence: 1° rotation  among x (clockwise) 2° rotation  among y (anticlockwise) 3° rotation  among z (clockwise) 4° translation of -a3 along z Therefore the parameters for Left Leg are: , , , δ that depend upon gesture 22 + 4 (LS,RS,LHJ,RHJ) parameters that depend upon anthropometric

Left leg Transformation: LH - K Transformation: K - LL We can express the leg rotation as a current frame rotation sequence: 1° rotation δ among y (clockwise) 2° translation of a3 along z Full transformation: B - LL

Right leg Version 1 – axes Z of limbs directed like axis Z of the Body

Right leg Abbreviations: B – Body; RHJ – Right Hip Joint; RH – Right Hip; K – Knee; RL – Right Leg. Transformation: B - RHJ Parameters: - angle position of the Left Hip Joint;

Right leg Transformation: RHJ - RH We can express the leg rotation as a current frame rotation sequence: 1° rotation  among x (anticlockwise) 2° rotation  among y (anticlockwise) 3° rotation  among z (anticlockwise) 4° translation of -a3 along z Therefore the parameters for Right Leg are: , , , δ that depend upon gesture 22 + 4 (LS,RS,LHJ,RHJ) parameters that depend upon anthropometric

Right leg Transformation: RH - K Transformation: K - RL We can express the leg rotation as a current frame rotation sequence: 1° rotation  among y (clockwise) 2° translation of a3 along z Full transformation: B - RL