Chapter 2: Limb Kinematics (under construction)

Last updated Dec. 26 2015 by Francisco Valero-Cuevas


The purpose of this chapter is to introduce you to the kinematics of limbs. Kinematics is the study of movements without regard to the forces and torques that produce them. In essence, it is the fundamental description of the articulations and motions of which a limb is capable. This chapter serves as the foundation upon which we can build a common conceptual language, and begin to discuss limb function in the context of mechanics.

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Additional references and suggested reading:

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References in book:

  1. F.J.Valero-Cuevas, C.F.Small, Load dependence in carpal kinematics during wrist flexion in vivo. Clin. Biomech. 12, 154–159 (1997)
  2. Y.Bei, B.J.Fregly, Multibody dynamic simulation of knee contact mechanics. Med.Eng.Phys. 26(9), 777–789 (2004)
  3. H. Nagerl, J. Walters, K.H. Frosch, C. Dumont, D. Kubein-Meesenburg, J. Fanghanel, M.M. Wachowski, Knee motion analysis of the non-loaded and loaded knee: a re-look at rolling and sliding. J. Physiol. Pharmacol. 60, 69–72 (2009)
  4. C.E. Wall, A model of temporomandibular joint function in anthropoid primates based on condylar movements during mastication. Am. J. Phys. Anthropol. 109(1), 67–88 (1999)
  5. F.J. Valero-Cuevas, H. Hoffmann, M.U. Kurse, J.J. Kutch, E.A. Theodorou, Computational models for neuromuscular function. IEEE Rev. Biomed. Eng. 2, 110–135 (2009)
  6. R.M.Murray,Z.Li,S.S.Sastry,A Mathematical Introduction to Robotic Manipulation(CRC, Boca Raton, 1994)
  7. T.Yoshikawa,FoundationsofRobotics:AnalysisandControl(MITPress,Cambridge,1990)
  8. F.J. Valero-Cuevas, A mathematical approach to the mechanical capabilities of limbs and fingers. Adv. Exp. Med. Biol. 629, 619–633 (2009)
  9. F.E. Zajac, Muscle and tendon: properties, models, scaling, and application to biomechanics and motor control. Crit. Rev. Biomed. Eng. 17(4), 359–411 (1989)
  10. V.J.Santos,F.J.Valero-Cuevas,Reported anatomical variability naturally leads to multimodal distributions of Denavit-Hartenberg parameters for the human thumb. IEEE Trans. Biomed. Eng. 53, 155–163 (2006)
  11. F.J. Valero-Cuevas, M.E. Johanson, J.D. Towles, Towards a realistic biomechanical model of the thumb: the choice of kinematic description may be more critical than the solution method or the variability/uncertainty of musculoskeletal parameters. J. Biomech. 36, 1019–1030 (2003)
  12. O.Bottema, B.Roth, Theoretical Kinematics (Dover Publications, New York, 2012)
  13. Wikipediacontributors, Basisvectors, Wikipedia, TheFreeEncyclopedia. Accessed 12 Feb 2015
  14. T. Yoshikawa, Translational and rotational manipulability of robotic manipulators, in 1991 International Conference on Industrial Electronics, Control and Instrumentation (IEEE, 2002), pp. 1170–1175


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© Francisco Valero-Cuevas 2015