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Today, there exist several methods to compute a realistic human posture depending on tasks and geometries, with which a human being is interacting. Several approaches use probabilistic models in combination with inverse kinematics. These methods produce acceptable results concerning the reliability and accuracy. However, they are unsatisfying in terms of flexibility concerning application to various tasks, since adapting a probabilistic model to new requirements needs a high technical measurement effort. Another disadvantage is that it is challenging to derive values like strain and workload respectively or discomfort from these approaches. Hence we have developed an approach for 1) computing autonomous postures, 2) assessing and considering joint load and 3) assessing discomfort. Integral part of this approach is an accurate physical description of test subjects.