Generating the upper limb posture of a human arm is important when executing tasks involving position and force control. In this article, we derive the evaluation function to generate the upper limb posture of a human arm when connecting an RCA plug. We measure the upper limb posture of one subject, while connecting the plug, to determine factors in the evaluation function and of eight more subjects on different positional plugs, to estimate the factor values. Based from the experimental results, the evaluation function can be expressed as a weighted linear sum of nine factors such as power transmissibility of joints, torque, and manipulability measure of joints. It was shown that the generated upper limb posture is close enough to the measured posture. The most important constituent factors of the evaluation function are found to be manipulability measure of both elbow and wrist, and the wrist torque.%人間が生活する上で上肢は重要な役割を果たす．上肢は物rn体を把持したり，操作したり，他の人に手振りで意思を伝達しrnたりと，多様な動きをする．人間が上肢を用いずに一日を過ごrnすことはない．上肢作業には，小さなスイッチを操作したり，rn微小物体を把持して位置決めをしたりなどの精密な位置制御rnを必要とする．加えて，物体同士の族め合わせなどをうまくrn実現するための正確な力制御も同時に要求するものが多い．
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