The paper presents the analysis of human

arm joints is carried out and the study is extended

to the robot manipulator. This study will first focus on

the kinematics of human upper arm which include the

movement of each joint in shoulder, wrist, elbow and

fingers. Those analyses are then extended to the design of

a human robot manipulator. A simulator is built for

Direct Kinematics and Inverse Kinematics of human

upper arm. In the simulation of Direct Kinematics, the

human joint angles can be inserted, while the position

and orientation of each finger tips (end-effector) are

shown. The simulation of human arm forward kinematics is

performed through MATLAB Graphical User Interface

and VRML. tained from kinematics analysis, the human

manipulator joints can be designed to follow

prescribed position trajectories.