The main objective is to develop methods that automatically generate kinema
tic models for the movements of biological and robotic systems. Two methods
for the identification of the kinematics are presented. The first method r
equires the elimination of the displacement variables that cannot be measur
ed while the second method attempts to estimate the changes in these variab
les. The methods were tested using a planar two-revolute-joint linkage. Res
ults show that the model parameters obtained agree with the actual paramete
rs to within 5%. Moreover. the methods were applied to model head and neck
movements in the sagittal plane. The results indicate that these movements
are well modeled by a two-revolute-joint system. A spatial three-revolute-j
oint model was also discussed and tested. (C) 2001 IPEM. Published by Elsev
ier Science Ltd. All rights reserved.