Abstract��Motion parameterization of complex joint model is the foundation of virtual human motion simulation. The classical parameterization methods of 3D rotation, such as rotation matrix, Euler angle, and quaternion, which bear several drawbacks, cannot resolve the motion parameterization of complex joint model. Based on the improvement of exponential map, a novel motion parameterization method called Dual Exponential Map (DEM) which can depict translation and rotation, linear velocity and angular velocity simultaneously was proposed. The motion description as well as parameters computation capabilities of the DEM were introduced. Finally a simulation on maintenance operation training was implemented. The experimental results illustrate that the DEM method bears powerful capability on derivation, solution to differential and ODEs, optimization control and interpolation.