Separate Arm and Head Model Description

Kinematic Model Tables

Torso Kinematic Chain

Segment	Parent	Origin	Joint Type	Proximal	Distal
Torso	Lab	Base of neck	Free joint (6 DOF)	-	-

Head Kinematic Chain

Segment	Parent	Origin	Joint Type	Proximal	Distal
Head	Lab	Midpoint of ears	Free joint (6 DOF)	-	-

Right Arm Kinematic Chain

Segment	Parent	Origin	Joint Type	Proximal	Distal
Right Upper Arm	Lab	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 Arm Kinematic Chain

Segment	Parent	Origin	Joint Type	Proximal	Distal
Left Upper Arm	Lab	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 Type	Proximal	Distal
Pelvis	Lab	Midpoint of pelvis	Free joint (6 DOF)	-	-
Right Thigh	Pelvis	Right hip	Three rotational DOF	Right hip	Right knee
Right Shank	Right Thigh	Right knee	Two or three rotational DOF (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 or three rotational DOF (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