Three dimensional kinematic model of the upper limb with ten degrees of freedom

The need for a practical but precise kinematic model for upper limb motion analysis arises from various applications. This paper deals with a kinematic model based on motion data in 3D space. The upper limb is represented by a simplified link-segment model composed of three rigid segments. To define appropriate coordinate systems, the upper limb is instrumented by six markers. The model has ten degrees of freedom: three translational degrees of freedom for the arm (which are obtained using the screw axis) and seven rotational degrees of freedom (three for the arm, two for the forearm and two for the hand).