The Default kinematic model consists of two kinematic chains for the lower body (pelvis and legs) and upper body (torso, arms, and head).

Upper body kinematic chain

Torso

Parent: Lab

Origin: Base of neck

Joint: Free joint (6 DOF)

Head

Parent: Torso

Origin: Midpoint of ears

Joint: Free joint (6 DOF)

Right Upper Arm

Parent: Torso

Origin: Right shoulder

Joint: Free joint (6 DOF)

Proximal: Right shoulder

Distal: Right elbow

Right Lower Arm

Parent: Right upper arm

Origin: Right elbow

Joint: Two rotational degrees of freedom (flexion/extension, pronation/supination)

Proximal: Right elbow

Distal: Right wrist

Right Hand

Parent: Right lower arm

Origin: Right wrist

Joint: Two rotational degrees of freedom (flexion/extension, ad/abduction)

Proximal: Right wrist

Distal: Right mid hand

Left Upper Arm

Parent: Torso

Origin: Left shoulder

Joint: Free joint (6 DOF)

Proximal: Left shoulder

Distal: Left elbow

Left Lower Arm

Parent: Left upper arm

Origin: Left elbow

Joint: Two rotational degrees of freedom (flexion/extension, pronation/supination)

Proximal: Left elbow

Distal: Left wrist

‍Left Hand

Parent: Left lower arm

Origin: Left wrist

Joint: Two rotational degrees of freedom (flexion/extension, ad/abduction)

Proximal: Left wrist

Distal: Left mid hand

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Lower body kinematic chain

Pelvis

Parent: Lab

Origin: Midpoint of pelvis plane

Joint: Free joint (6 DOF)

‍Right Thigh

Parent: Pelvis

Origin: Right hip

Joint: Three rotational degrees of freedom

Proximal: Right hip

Distal: Right knee

Right Shank

Parent: Right thigh

Origin: Right knee

Joint: Two rotational degrees of freedom (flexion/extension, ad/abduction) or three rotational degrees of freedom (flexion/extension, ad/abduction, internal/external rotation)

Proximal: Right knee

Distal: Right ankle

Right Foot

Parent: Right shank

Origin: Right ankle

Joint: Free joint (6 DOF), with limited translation

Proximal: Right ankle

Distal: Right mid foot

Right Toes

Parent: Right foot

Origin: Right mid foot

Joint: One rotational degree of freedom (flexion/extension)

Proximal: Right mid foot

Distal: Right big toe

Left Thigh

Parent: Pelvis

Origin: Left hip

Joint: Three rotational degrees of freedom

Proximal: Left hip

Distal: Left knee

Left Shank

Parent: Left thigh

Origin: Left knee

Joint: Two rotational degrees of freedom (flexion/extension, ad/abduction) or three rotational degrees of freedom (flexion/extension, ad/abduction, internal/external rotation)

Proximal: Left knee

Distal: Left ankle

Left Foot

Parent: Left shank

Origin: Left ankle

Joint: Free joint (6 DOF), with limited translation

Proximal: Left ankle

Distal: Left mid foot

Left Toes

Parent: Left foot

Origin: Left mid foot

Joint: One rotational degree of freedom (flexion/extension)

Proximal: Left mid foot

Distal: Left big toe