Default Model Description

The Default kinematic model consists of two kinematic chains for the lower body (pelvis and legs) and upper body (torso, arms, and head).

Upper Body Kinematic Chain

Segment
Parent
Origin
Joint
Proximal
Distal

Torso

Lab

Base of neck

Free joint (6 DOF)

Head

Torso

Midpoint of ears

Free joint (6 DOF)

Right Upper Arm

Torso

Right shoulder

Free joint (6 DOF)

Right shoulder

Right elbow

Right Lower Arm

Right Upper Arm

Right elbow

Two rotational DOF (flexion/extension, pronation/supination)

Right elbow

Right wrist

Right Hand

Right Lower Arm

Right wrist

Two rotational DOF (flexion/extension, ad/abduction)

Right wrist

Right mid hand

Left Upper Arm

Torso

Left shoulder

Free joint (6 DOF)

Left shoulder

Left elbow

Left Lower Arm

Left Upper Arm

Left elbow

Two rotational DOF (flexion/extension, pronation/supination)

Left elbow

Left wrist

Left Hand

Left Lower Arm

Left wrist

Two rotational DOF (flexion/extension, ad/abduction)

Left wrist

Left mid hand


Lower Body Kinematic Chain

Segment
Parent
Origin
Joint
Proximal
Distal

Pelvis

Lab

Midpoint of pelvis plane

Free joint (6 DOF)

Right Thigh

Pelvis

Right hip

Three rotational DOF

Right hip

Right knee

Right Shank

Right Thigh

Right knee

Two rotational degrees of freedom (flexion/extension, ad/abduction) or three rotational degrees of freedom (flexion/extension, ad/abduction, internal/external rotation)

Right knee

Right ankle

Right Foot

Right Shank

Right ankle

Free joint (6 DOF), limited translation

Right ankle

Right mid foot

Right Toes

Right Foot

Right mid foot

One rotational DOF (flexion/extension)

Right mid foot

Right big toe

Left Thigh

Pelvis

Left hip

Three rotational DOF

Left hip

Left knee

Left Shank

Left Thigh

Left knee

Two rotational degrees of freedom (flexion/extension, ad/abduction) or three rotational degrees of freedom (flexion/extension, ad/abduction, internal/external rotation)

Left knee

Left ankle

Left Foot

Left Shank

Left ankle

Free joint (6 DOF), limited translation

Left ankle

Left mid foot

Left Toes

Left Foot

Left mid foot

One rotational DOF (flexion/extension)

Left mid foot

Left big toe

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