oArticularJoint(incr_solid).name=[Signe name];   
0144     OsteoArticularJoint(incr_solid).sister=0;                
0145     OsteoArticularJoint(incr_solid).child=s_Forearm;                   
0146     OsteoArticularJoint(incr_solid).mother=s_mother;           
0147     OsteoArticularJoint(incr_solid).a=[0 0 1]';
0148     OsteoArticularJoint(incr_solid).joint=1;
0149     OsteoArticularJoint(incr_solid).limit_inf=0;
0150     OsteoArticularJoint(incr_solid).limit_sup=pi;
0151     OsteoArticularJoint(incr_sol