In MatLab. An important aspect of designing prosthetics is understanding how the device moves throughout space relative to the body, and how it responds to different inputs. One way to measure this is to place sensors on different portions of a device during testing and analyze their movement using a camera tracking system. Figure 1 shows a schematic model of an example prosthetic arm. is the angle between the upper arm and the shoulder, and is the elbow angle. We define 1 and 2 from and : 1 = 2 2 = Assuming that the origin of our coordinate system is fixed on the shoulder, and the movement of the arm is always limited to the x y plane (i.e. the arm movement is two-dimensional), we can calculate the position of the elbow and hand: Xelbow = l1cos(1) Yelbow = l1sin(1) Xhand = Xelbow + l2cos(1 + 2) Yhand = Yelbow + l2sin(1 + 2) Or Xhand = l1cos(1) + l2cos(1 + 2) Yhand = l1sin(1) + l2sin(1 + 2) where l1 is the length of the upper arm, and l2 is the length of lower arm. We can measure and by putting sensors on the shoulder and elbow. Write a function that receives , , l1, and l2 and returns Xhand and Yhand.