The objective of this research is to create a movable, palpable virtual model of the dynamic human upper body, including the spine, shoulders, and arms skeletal structure, with dynamic pivot point and deformable skin. This Virtual Haptic Human Upper Body (VHHUB) model has realistic human motion with anatomically-accurate joint motion limits and a 71 degrees-of-freedom branching serial chain model. The aim is to provide realistic motions when an osteopathic medical student moves the virtual patient for palpatory diagnosis training. Medical trainees can thus practice feeling changes in human tissue due to motions, a common diagnostic technique.

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