# 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   |