Table 3-1. Model degrees of freedom.

 DOF Description

 qi Pelvis anterior-posterior position
 q2 Pelvis superior-inferior position
 q3 Pelvis medial-lateral position
 q4 Pelvis anterior-posterior tilt angle
 q5 Pelvis elevation-depression angle
 q6 Pelvis internal-external rotation angle
 q7 Right hip flexion-extension angle
 q8 Right hip adduction-abduction angle
 q9 Right hip internal-external rotation angle

 qio Right knee flexion-extension angle
 qii Right ankle plantarflexion-dorsiflexion angle

 q12 Right ankle inversion-eversion angle
 q13 Left hip flexion-extension angle
 q14 Left hip adduction-abduction angle
 q15 Left hip internal-external rotation angle
 q16 Left knee flexion-extension angle
 q17 Left ankle plantarflexion-dorsiflexion angle
 q18 Left ankle inversion-eversion angle
 q19 Trunk anterior-posterior tilt angle
 q20 Trunk elevation-depression angle
 q21 Trunk internal-external rotation angle
 q22 Right shoulder flexion-extension angle
 q23 Right shoulder adduction-abduction angle
 q24 Right elbow flexion angle
 q25 Left shoulder flexion-extension angle
 q26 Left shoulder adduction-abduction angle
 q27 Left elbow flexion angle