an class="keyword">end</span>
0088         <span class="keyword">end</span>
0089             <span class="keyword">if</span> Human_model(j).joint == 1    <span class="comment">% liaison pivot (pin joint)</span>
0090 <span class="comment">%        Human_model(j).p=eval(['R' num2str(num_cut) 'cut'])*(k(i)*Human_model(j).b)+eval(['p' num2str(num_cut) 'cut']); % position du rep�re (reference frame position)</span>
0091        Human_model(j).p=eval([<span class="string">'R'</span> num2str(num_cut) <span class=