Antoanela Naaji, Daniela Gherghel. Kinematic Model of Human Upper Limb. Scientific Bulletin of the „Politehnica” University of Timisoara, :77-80, 2005.
Motive activities of the human upper limb result from the movement of kinematic chains made by skeletal elements connected by joints. The present paper describes the human upper limb as a kinematic structure similar to that of a robot with five degrees of freedom for which we apply the conventions of Robotics, obtaining the kinematic model of the human upper limb. In this case the arm has three degrees of freedom in shoulder joint, the forearm one degree of freedom in elbow joint and the hand one degree of freedom in radiocarpal joint.