The model’s skeleton was built as 17 articulating rigid bodies, that is, a pelvis, five lumbar vertebrae, a torso (lumped thoracic and cervical vertebrae, ribcage, and head), bilateral femur, scapula, clavicle, humerus, ulna, radius, and hand. The model had 35 degrees of freedom and 472 musculotendon actuators, including anterior deltoid, middle deltoid, posterior deltoid, teres minor, teres major, infraspinatus, supraspinatus, subscapularis, pectoralis major, trunk muscles, and elbow joint muscles. Notes  View License