ABSTRACT
In this chapter, the author considers a 17-member human body model and develops the kinematics of this model as well as procedures for determining explicit expressions for the kinematics of human body models in general. To illustrate and develop the concepts related to generalized coordinates of the system, he also considers the generic multibody system. When generalized speeds are used as generalized coordinate derivatives, the angular velocities of the bodies of a multibody system and hence, of a human body model, may be expressed in the compact form of equation. The positions of the mass center of the bodies of the human body model is also considered. These positions are defined by position vectors locating mass centers relative to a fixed point in the fixed or inertial frame.
