The default kinematic model consists of two kinematic chains: the lower body (pelvis and legs) and upper body (thorax, arms, and head).
Thorax
Lab
Base of neck
Free joint (6 DOF)
Head
Thorax
C1
Free joint (6 DOF)
Right Upper Arm
Thorax
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, radial/ulnar deviation)
Right wrist
Right mid hand (metacarpals)
Left Upper Arm
Thorax
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, radial/ulnar deviation)
Left wrist
Left mid hand (metacarpals)
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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