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International Journal of Advanced Artificial Intelligence Research

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CNN-Driven Kinematic Modeling Framework for Human Upper Limb Motion Imitation and Functional Replication

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Dr. Pham Minh Tuan 1 ,
4 Faculty of Computer Engineering, Da Nang University of Technology, Da Nang, Vietnam

Abstract

The replication of human upper limb motion with computational intelligence has become a critical research domain in robotics, human–computer interaction, and assistive rehabilitation systems. This study proposes a CNN-driven kinematic modeling framework designed to imitate and functionally replicate human upper limb movements with high spatial-temporal fidelity. The framework integrates convolutional neural networks (CNNs) with kinematic representation strategies to extract motion features, estimate joint configurations, and enable structured motion reproduction in real or simulated robotic systems. Unlike conventional vision-based tracking systems that rely solely on geometric estimation, the proposed approach leverages deep hierarchical feature extraction to improve robustness against occlusion, noise, and environmental variability.

The methodology synthesizes advancements in object detection, pose estimation, and motion tracking, drawing inspiration from Faster R-CNN-based localization mechanisms in dynamic environments (J. O. P. Arenas, M. R. Jiménez, and P. C. U. Murillo, 2018). A multi-stage pipeline is developed, consisting of feature extraction, kinematic mapping, and motion synthesis modules. Comparative insights from prior CNN-based tracking and human motion modeling systems demonstrate that deep convolutional architectures significantly enhance precision in spatial localization and trajectory continuity.

Experimental reasoning indicates that CNN-based kinematic learning enables improved adaptability in complex motion environments, particularly for upper limb articulation tasks involving multiple degrees of freedom. The study further identifies limitations in real-time scalability and sensor dependency, proposing hybrid optimization strategies for future enhancement. Overall, this research contributes a structured framework for advancing biologically inspired motion imitation systems and supports applications in rehabilitation robotics, teleoperation, and intelligent assistive devices.

Keywords

Upper limb motion, Convolutional Neural Networks, Kinematic modeling

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