n> i=frame_opti
0063     <span class="comment">% attribution �chaque articulation de la position/vitesse/acc��ation</span>
0064     <span class="comment">% setting position/speed/acceleration to each joint</span>
0065     Human_model(1).p=p_pelvis(i,:)';
0066     Human_model(1).R=r_pelvis{i};
0067     Human_model(1).v0=v0(i,:)';
0068     Human_model(1).w=w(i,:)';
0069     Human_model(1).dv0=dv0(i,:)';
0070     Human_model(1).dw=dw(i,:)';    
0071     <span class="keyword">for</span> j=2:numel(Human_mo