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General comfort can be defined as the measure of the “level of wellbeing” perceived by humans when interacting with a working environment. The state of the art for comfort/discomfort evaluation shows the need for an objective method to evaluate both “effects on the internal body” and “perceived effects” when considering the perception of comfort. Medical studies show that each joint has its own natural resting posture. In this posture, our muscles are completely relaxed or at minimum levels of strain. The body's geometrical configuration corresponds to the natural resting position of arms/legs/neck etc. From this starting point, the authors experimented to develop and built postural-comfort curves for each degree of freedom (DOF) of upper-limb joints. These curves are regular, and do not show any kind of discontinuity. Software (CA-Man®) was developed to analyze different postures and calculate a postural comfort index for the entire upper body.