Kinematics and dynamics of human body

Most important aspect here to be noted is that global movements of body can be categorized as translation and all other local movements, where center of mass of body is not moving, are rotational only.

Global translations are achieved by external forces as per newton laws. External forces are friction and other pull or push achieved with the help of other bodies. Local movements which are based on rotation can be achieved with the help of pair of current coils. One coil of pair is fixed with parent element and other part remains with child element. Centers of both coils coincide but always make sure they do not become co planar at any orientation so that you may not lose the facility to apply torque for rotation. Finger joints can be manifested with the help of such small coils. In case of joints like ball and sockets joints two pairs of coils are used at the same joint to provide little freedom for 3d motion like shoulder joints.

I think some permanent magnets may also be used. For example if you fix one permanent magnet in the palm then little single coil at the end finger element can be used to open and close fist. When child member is moved this way then parent components behave as per joints. This kind of approach is known as inverse kinematics in animation industry. Many times you have option to use inverse or forward kinematics. For example to punch someone you may use rotation of part attached to shoulder along with opposite rotation of middle element then punch moves straight. In animation they can move fist so that other parts of arm may move accordingly. But try to be as natural as possible. As you can understand that without help of other object in surrounding, you cannot use inverse kinematics. Because you always need to hold something, to do that. For example by rotating upper leg and using friction at other foot, you step forward and then locking that foot with friction, you push whole body to move ahead.

So inner forces in human body can rotate the things only. For global movement we use these rotations to generate external forces for linear motion. One interesting point here you can note that in case of arms or legs, when front part is locked with ground or other object, then middle part is rotated as child about the joint connecting it to end part, to pull or push whole body.

So at the end I can say that by using only coils to produce torque for rotation I can move the human structure any way you want. Don’t you see that we have invented wheels to move fast? Can't you understand that it is only magnetic torque which can help a robot to move and do things like a human?  

Just fix one magnet vertical somewhere in head portion then any motion will produce secondary motions of head like a living body as magnetic field of earth is there to try to orient head magnet. Slight oscillations produced automatically will shake the head of robot as humans do even if they are standing still. Some old people develop a problem of oscillating head. People must give attention to effect of electromagnetic field on human body. Just visualize a very light particle with a little charge and now you throw it somewhere then electromagnetic field around us will keep moving that light particle like some living entity.  

In human robot do not forget to fix one compass so that by observing the angle it may decide where to go. This compass magnet will create one consciousness for direction. It indicates something interesting is happening towards north.