This thesis describes two kinematic models of human knee which may be used to study the motion of the knee and the forces in the ligaments of the knee. In one model, the ligaments are simulated by rigid links connected to links representing the articulating bones at the centroids of the areas of insertion of the ligaments. The condylar higher pair connections are simulated by equivalent linkages connected by resolutes. In an advanced model, the rigid ligament links are replaced by springs.

The IMP procedure, a powerful kinematic linkage analysis method, is employed to study the motion and forces in this model. This procedure contains elements for position, velocity, acceleration, force, and equilibrium analysis of spatial linkages.