FIGURE 6.

Six degrees of freedom elbow movement in Palorchestes azael. (a) 3D ROM map showing the ROM envelope produced by 6 DOF multiaxial rotations of the Palorchestes elbow, with the 21 nodes of the mean kinematic trajectory plotted (red flexed—blue extended poses). (b) Palorchestes azael left humerus with 20 finite helical axes superimposed showing changes in axis orientation over the course of the mean kinematic trajectory (red flexed—blue extended poses) modelled with 6 DOF. Black dashed line indicates the mean helical axis, black dot is the mean joint centre along this axis. Star indicates the medial epicondyle