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Human Anatomy · General anatomy

How to Read the Body

Anatomy has its own language, and every later chapter assumes you speak it. This one teaches the position everything is described from, the planes and axes movement happens in, the terms that locate one structure against another, and the vocabulary of bone surfaces you will use at every joint you examine.

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Part 1 · General anatomy

Anatomical terminology, position, planes and axes, kinematic conventions, and the vocabulary of bone surfaces

Why this chapter exists

Anatomy is the only subject in your course that every other subject quotes. Kinesiology quotes it, electrotherapy quotes it when it tells you where a motor point lies, orthopaedics quotes it in every operative note, neurology quotes it in every localisation, and your own clinical reasoning quotes it every time you decide that a patient’s lateral elbow pain is tendinous rather than radicular.

But before any of that, anatomy has to be written down and spoken. A structure that cannot be described unambiguously cannot be handed from one clinician to another. The whole of this chapter is therefore about one problem and its solution:

The problem. The human body moves. Any description that depends on how the body happens to be arranged at the moment of writing becomes false the moment the body moves.

The solution. Agree on a fixed reference posture, a fixed set of reference planes and axes, and a fixed vocabulary — and describe everything from those, regardless of what the patient is actually doing.

Everything in this chapter follows from that single move. Master it and you will never again write a sentence in a clinical record that a colleague can misread.

Learning outcomes

By the end of this chapter you should be able to:

  • Define anatomy and distinguish its branches, and state which are load-bearing for physiotherapy practice.
  • Explain what Terminologia Anatomica is, why it replaced eponymous terminology, and where eponyms nonetheless survive.
  • Describe the anatomical position exactly, including the position of the forearms, and justify each element of it.
  • Explain the embryological limb rotation that makes upper- and lower-limb terminology mirror-images of each other.
  • Define the cardinal planes and their paired axes, and predict the movement that occurs in each plane–axis pair at any joint.
  • Distinguish osteokinematics from arthrokinematics, and degrees of freedom from planes of motion.
  • Explain the instantaneous axis of rotation, the helical axis, Euler/Cardan angle sequences and Codman’s paradox at a level sufficient to read a biomechanics paper.
  • Use directional, movement and regional terminology correctly in written clinical documentation.
  • Record range of motion using the neutral-zero (AAOS) method and SFTR notation, and classify end-feel.
  • Read the surface features of a dried bone and infer the soft-tissue events that produced them.

What anatomy is, and how it is divided

Anatomy (Greek ana-, up; tome, cutting) is the science of the structure of the body and of the spatial relationships between its parts. Physiology is the science of its function. The two are inseparable in practice — structure constrains function and function remodels structure — and the hybrid discipline you actually practise is best called functional anatomy or kinesiology.

1.2.1 The branches

BranchScopeWhere it becomes clinical for you
Gross (macroscopic) anatomyStructures visible to the unaided eye. Taught either regionally (everything in the forearm together) or systemically (the whole skeletal system, then the whole muscular system).The core of this subject. Regional teaching mirrors clinical presentation; systemic teaching mirrors pathology that follows a tissue type.
Histology (microscopic anatomy)Tissue and cell architecture.Explains healing timelines: why bone remodels and hyaline cartilage does not, why tendon is slow, why muscle regenerates only within limits.
CytologyCell structure.Underpins motor-unit physiology and mitochondrial adaptation to endurance training.
Embryology (developmental anatomy)Formation from zygote to birth, and postnatal growth.Explains dermatome/myotome patterns, referred pain, congenital deformity (CTEV, DDH, spina bifida), and limb-bud rotation.
Surface anatomy (living anatomy)What can be seen, palpated and inferred on a living subject.Arguably the single most important branch for physiotherapy: your assessment is surface anatomy performed in real time.
Radiological / sectional anatomyThe body as rendered by radiograph, ultrasound, CT, MRI.Reading the report — and increasingly, reading the images — that arrive with your patient.
NeuroanatomyThe nervous system in structural detail.Lesion localisation, which is the entire basis of neurological physiotherapy.
Comparative anatomyStructure across species.Explains why the human pelvis, foot arch and lumbar lordosis carry the costs they do.
Applied / clinical anatomyAnatomy interpreted through injury, disease and intervention.Everything above, made useful.

1.2.2 Regional versus systemic organisation

Both schemes are legitimate and you need both.

  • Systemic organisation groups by tissue and function: skeletal, articular, muscular, nervous, cardiovascular, lymphatic, respiratory, digestive, urinary, reproductive, endocrine, integumentary. It is the better scheme for understanding a disease (rheumatoid arthritis attacks synovium wherever synovium exists).
  • Regional organisation groups by territory: shoulder, arm, forearm, hand. It is the better scheme for understanding a patient (a patient does not present with “the muscular system”; they present with a painful shoulder).

This subject uses the standard compromise: general anatomy systemically first (bone, cartilage, joint, muscle, connective tissue, skin), then the regions.

1.2.3 Terminologia Anatomica, and the problem with eponyms

Until the late nineteenth century, anatomical naming was chaotic: a single structure might carry a dozen names in different European schools. Successive international committees produced standardised lists — Basle Nomina Anatomica (BNA, 1895), Nomina Anatomica (NA, from 1955), and since 1998 Terminologia Anatomica (TA), produced by the Federative International Programme for Anatomical Terminology (FIPAT) under the International Federation of Associations of Anatomists. A second edition (TA2) was released in 2019, alongside companion terminologies for histology (Terminologia Histologica) and embryology (Terminologia Embryologica).

TA has two working rules that are worth internalising:

  • Each structure has one Latin term, with an official English equivalent. The Latin is the anchor; translations hang off it.
  • Descriptive terms are preferred to eponyms. Uterine tube rather than Fallopian tube; intestinal glands rather than crypts of Lieberkühn; ampulla of the uterine tube rather than a surname.

The reason is not pedantry. A descriptive term teaches you something (the flexor digitorum profundus is the deep flexor of the fingers — you have learnt its compartment, its action and its depth from the name alone). An eponym teaches you nothing except a piece of nineteenth-century European history, and often the wrong history: many eponymous structures were described earlier by someone else, and a proportion of eponyms honour individuals whose conduct the profession would not now wish to commemorate.

But eponyms survive, and you must know them, because clinical practice is not governed by TA. You will meet, and must be fluent in, terms such as the circle of Willis, the ligament of Treitz, the canal of Guyon, the space of Poirier, Gerdy’s tubercle, Lister’s tubercle, the arcade of Frohse, and the anatomical snuffbox. The rule for your own writing: use the TA term, and give the eponym once in parentheses if the eponym is what the referring surgeon will use.

1.2.4 Reading terms rather than memorising them

Anatomical vocabulary is a compositional system built from a few hundred Latin and Greek elements. Learning the elements converts thousands of terms from memorisation into reading.

ElementMeaningWorked example
supra- / infra-above / belowsupraspinatus — the muscle above the scapular spine
epi- / hypo-upon / underepicondyle — the eminence upon the condyle
ab- / ad-away from / towardsabductor, adductor
pre- / retro-in front of / behindretropharyngeal space
inter- / intra-between / withininterosseous membrane; intracapsular ligament
-osus / -osafull of, roughlinea aspera — the rough line
brevis / longus / magnusshort / long / largeperoneus longus and brevis
teresround, cylindricalpronator teres
serratussaw-toothedserratus anterior, from its digitations
gastro-bellygastrocnemius — the belly of the leg
-glossus / -hyoidtongue / hyoidgenioglossus, mylohyoid

A muscle name in the standard form encodes up to five facts: shape (deltoid, trapezius, rhomboid), size (maximus, minimus), fibre direction (rectus, obliquus, transversus), location (brachii, femoris, abdominis), attachments (sternocleidomastoid, coracobrachialis), number of heads (biceps, triceps, quadriceps) and action (flexor, extensor, supinator, levator). Flexor pollicis longus is therefore not a name to memorise but a sentence to read: the long flexor of the thumb.

Clinical note — why terminology is a patient-safety issue

Wrong-site surgery remains a “never event” in most health systems, and ambiguous anatomical documentation is one of its recurrent contributors. Laterality (left / right), level (L4–L5 versus L5–S1) and digit naming (the thumb, index, middle, ring and little finger — never “the first finger”, which is ambiguous) must be written in unambiguous form every time. In the foot, the digits are conventionally numbered one to five from the great toe (hallux) laterally; the fifth is the little toe.

The anatomical position

1.3.1 The definition, in full

The anatomical position is the agreed reference posture from which every positional and movement term is defined:

  • The body stands erect.
  • The head faces directly forward, with the eyes on the horizon. (In craniometric work this is formalised as the Frankfort horizontal plane — a plane through the inferior orbital margins and the superior margins of the external acoustic meatus.)
  • The feet are together, flat on the ground, toes directed forward.
  • The upper limbs hang by the sides, adducted at the shoulders and extended at the elbows.
  • The forearms are fully supinated, so the palms face anteriorly and the thumbs point laterally, away from the body.
  • The fingers are extended, and the mouth is closed with the facial expression neutral.

1.3.2 The supination clause, and why it is not trivial

At rest, standing normally, your forearms sit in mid-pronation: the palms face the thighs and the radius crosses obliquely over the ulna. In the anatomical position the forearm is supinated, so radius and ulna lie parallel and uncrossed, with the radius lateral and the ulna medial.

Every downstream statement about the forearm depends on this. The radius is the lateral bone and the ulna is the medial bone — in the anatomical position. Radial deviation of the wrist is abduction — in the anatomical position. The lateral cutaneous nerve of the forearm supplies the lateral forearm — in the anatomical position. Describe from the patient’s incidental posture instead and every one of these becomes wrong.

1.3.3 The fundamental position

Some kinesiology texts also define the fundamental position: identical to the anatomical position except that the forearms are in mid-pronation with the palms facing the body. It is the more natural standing posture and is occasionally used as the starting position for describing forearm rotation itself (where “zero” is mid-position, not full supination). Where a text uses it, it will say so; unless told otherwise, assume the anatomical position.

Deep dive — limb rotation in the embryo, and why the upper and lower limbs are mirror-images

This is the single piece of embryology that explains the most gross anatomy, and it is worth learning now rather than in the development chapter.

The limb buds appear in the fifth week as outgrowths of lateral plate mesoderm covered by ectoderm, with the upper bud a little ahead of the lower. Initially both buds project laterally with a preaxial (cranial) border — the future thumb / great toe side — and a postaxial (caudal) border. The palms and soles both face medially, and the future elbows and knees both point laterally.

During the seventh to eighth weeks the limbs rotate at their roots, and they rotate in opposite directions:

  • The upper limb rotates laterally through approximately 90°. The extensor compartment comes to lie posteriorly, the elbow points posteriorly, and the preaxial (thumb) border ends up lateral.
  • The lower limb rotates medially through approximately 90°. The extensor compartment comes to lie anteriorly, the knee points anteriorly, and the preaxial (great toe) border ends up medial.

What this explains, immediately:

  • Why the elbow flexes anteriorly and the knee flexes posteriorly, despite being homologous joints.
  • Why the thumb is lateral but the great toe is medial.
  • Why the extensors of the upper limb are posterior but the extensors of the lower limb are anterior — and therefore why the radial nerve (an extensor nerve) runs posteriorly in the arm while the femoral nerve (an extensor nerve) runs anteriorly in the thigh.
  • Why dermatomes spiral down the limbs rather than running in neat transverse bands: the segmental innervation was laid down before rotation and was carried around with the tissue.
  • Why the great saphenous vein — a preaxial structure — runs on the medial side of the lower limb, while the cephalic vein, its upper-limb equivalent, runs laterally.

Learn this once and a large amount of otherwise arbitrary anatomy becomes derivable.

The cardinal planes

Figure 1 · The three planes of the body

The three planes of the body Three figures standing in the anatomical position, each showing one of the sagittal, coronal and transverse planes. Sagittal Divides left from right. Coronal Divides front from back. Transverse Divides upper from lower.
Each plane divides the body a different way. The sagittal plane separates left from right, the coronal separates front from back, and the transverse separates upper from lower. Any plane parallel to one of these carries the same name.

A plane is a two-dimensional surface passing through the body. Three mutually perpendicular cardinal planes are defined, each passing through the body’s centre of mass in the anatomical position.

PlaneOrientationDivides the body intoAlternative names and notes
SagittalVertical, running anteroposteriorlyLeft and right portionsThe plane passing exactly through the midline is the median (midsagittal) plane. Any parallel plane off the midline is paramedian or simply sagittal. From Latin sagitta, an arrow — the plane an arrow would travel in if fired at the back.
CoronalVertical, running side-to-sideAnterior and posterior portionsAlso frontal. From corona, a crown — the plane a crown occupies as it passes ear to ear.
TransverseHorizontalSuperior and inferior portionsAlso axial or horizontal. This is the plane in which most CT and MRI slices are acquired.
ObliqueAt an angle to all threeThe plane of most real human movement.

Three points that separate a competent answer from a superficial one:

  • Cardinal planes versus anatomical planes. Strictly, the cardinal planes are the three that pass through the centre of mass. Any parallel plane (a sagittal plane through the shoulder, a coronal plane through the mastoid processes) is an anatomical plane of the same family. Examination answers should use the family name.
  • Most functional movement is oblique. Reaching for a seatbelt, rising from a chair, or throwing are all triplanar. The cardinal planes are an analytical simplification, useful because a triplanar movement can be resolved into components in the three planes. When you assess “shoulder abduction in the coronal plane” you are deliberately isolating one component of a movement that never occurs in isolation in life.
  • The clinically important intermediate plane has a name. The scapular plane (scaption) lies approximately 30–45° anterior to the coronal plane, matching the resting orientation of the scapula on the thoracic wall. Elevation in this plane places the glenohumeral capsule under least twist, aligns the deltoid with the supraspinatus line of pull, and is the plane in which glenohumeral elevation is both greatest and least likely to impinge. It is the plane used for the “empty/full can” tests and for most early post-operative shoulder rehabilitation.

Radiological convention

A conventional anteroposterior (AP) radiograph or an axial CT/MR slice is displayed as though you are standing at the patient’s feet, looking towards the head. Consequently the patient’s left appears on the right of the image. Getting this wrong is a classic and dangerous error. Coronal images are viewed from the front (again, patient’s left on the viewer’s right); sagittal images are conventionally viewed from the patient’s left side.

Axes, and the plane–axis pairing

Figure 2 · Planes, axes and the movements that pair with them

Planes, axes and the movements that pair with them frontal axis sagittal axis vertical axis MOVEMENT HAPPENS IN A PLANE, AROUND AN AXIS Sagittal plane around the frontal axis Flexion and extension Coronal plane around the sagittal axis Abduction and adduction Transverse plane around the vertical axis Rotation
The axis is always at right angles to the plane. Learn the three pairings as sentences and you can work out any movement name rather than memorising it.

A plane tells you the surface along which a movement travels. An axis is the line about which the segment rotates — the pin of the hinge. The axis is always perpendicular to the plane of movement.

AxisRunsPerpendicular toMovements produced
Frontal (coronal, mediolateral)Side to side, horizontallySagittal planeFlexion, extension, dorsiflexion, plantarflexion
Sagittal (anteroposterior)Front to back, horizontallyCoronal planeAbduction, adduction, lateral flexion, radial/ulnar deviation, inversion, eversion
Vertical (longitudinal)Head to footTransverse planeMedial and lateral rotation, pronation and supination, horizontal abduction/adduction

Learn the three pairings as sentences, not as a table:

  • Flexion and extension occur in the sagittal plane, about a frontal axis.
  • Abduction and adduction occur in the coronal plane, about a sagittal axis.
  • Rotation occurs in the transverse plane, about a vertical axis.

Said this way, you can derive any movement name from first principles instead of recalling a list — which is what an examiner is actually testing when they ask about a movement you have not been taught.

1.5.1 Degrees of freedom

Degrees of freedom (DoF) is the number of independent axes about which a joint can rotate (and, in full rigid-body mechanics, the number of independent translations it permits). It is a property of the joint, not of the plane.

DoFJoint typeExamples
1Uniaxial — hinge (ginglymus) or pivot (trochoid)Humero-ulnar joint, interphalangeal joints; atlanto-axial, proximal radio-ulnar
2Biaxial — condyloid (ellipsoid) or saddle (sellar)Radiocarpal, metacarpophalangeal 2–5; first carpometacarpal, sternoclavicular
3Triaxial — ball and socket (spheroidal)Glenohumeral, hip, subtalar (functionally triplanar about one oblique axis)

Rigorously, every synovial joint also permits small translations (accessory glides), so a “three degrees of freedom” joint has six in full mechanical description: three rotations and three translations. Manual therapy is largely the exploitation of those translational degrees of freedom, which the patient cannot perform voluntarily.

1.5.2 Osteokinematics and arthrokinematics

This distinction — developed for clinical use in the Nordic manual-therapy tradition (Kaltenborn, Mennell, Maitland) — is fundamental and is examined constantly.

  • Osteokinematics describes the motion of bones through space: the large, visible, voluntary, angular movements you measure with a goniometer. Flexion, abduction, rotation. Also called physiological or cardinal movement.
  • Arthrokinematics describes the motion of joint surfaces on each other: the small accessory movements of roll, glide (slide) and spin that occur within the joint and cannot be performed in isolation by voluntary effort.
Arthrokinematic motionDefinitionAnalogy
RollNew points on one surface meet new points on the otherA tyre rolling on tarmac
Glide (slide)The same point on one surface meets new points on the otherA tyre skidding on ice
SpinRotation about a fixed mechanical axis; the same point stays in contactA spinning top

In a healthy joint, roll and glide are combined. Pure rolling would drive the moving surface off the edge of the stationary one; the accompanying glide keeps the surfaces centred. Loss of the glide component — the usual consequence of capsular fibrosis — produces the characteristic clinical picture of restricted, painfully compressed end-range movement despite intact muscle power.

The convex–concave rule (Kaltenborn) predicts the direction of glide, and therefore the direction in which a mobilisation should be applied:

  • When a convex surface moves on a fixed concave surface, the glide occurs opposite to the direction of bone (osteokinematic) movement. Example: glenohumeral abduction — the convex humeral head glides inferiorly while the shaft moves superiorly.
  • When a concave surface moves on a fixed convex surface, the glide occurs in the same direction as the bone movement. Example: knee extension in open chain — the concave tibial plateau glides anteriorly as the tibia extends anteriorly.

(The rule is a clinically useful approximation rather than an exact law; in vivo imaging shows more complex translation at several joints, notably the shoulder. Treat it as a first hypothesis to be tested against the patient’s response, not as an inviolable principle. This is discussed further in Chapter 4, Joints.)

Deep dive — instantaneous axis of rotation, and the helical axis

Textbook axes are drawn as fixed pins. Real joints have no such thing.

The instantaneous axis of rotation (IAR) is the axis about which a segment is rotating at one instant of a movement. Because articular surfaces are non-congruent and ligaments tighten progressively, the IAR migrates through the range. At the knee, the flexion–extension axis traces a J-shaped path (the classic evolute), moving posteriorly with flexion — which is why a single-axis knee brace hinge can never track the knee exactly, and why the moment arms of the quadriceps and hamstrings change through the range.

The IAR is the two-dimensional simplification. In three dimensions the equivalent is the helical (screw) axis: any displacement of a rigid body from one position to another can be described as a rotation about, plus a translation along, a single unique axis. Three-dimensional joint kinematics research reports finite helical axes for exactly this reason.

Euler and Cardan angles. To describe a 3D joint orientation with three familiar clinical angles, the rotation is decomposed into three sequential rotations about defined axes. The result is sequence-dependent:

  • flexion-then-abduction-then-rotation does not give the same numbers as abduction-then-flexion-then-rotation. This is why the International Society of Biomechanics (ISB) publishes standardised joint coordinate systems and rotation sequences (Grood and Suntay’s knee system, 1983
  • the ISB recommendations of Wu and colleagues for the ankle, hip, spine, shoulder, elbow, wrist and hand, 2002 and 2005). If you ever compare ROM values between two published studies, check they used the same sequence — otherwise you are comparing different quantities. Near the limits of a sequence, two axes can align and one degree of freedom is lost in the mathematics
  • this is gimbal lock, and it is why glenohumeral rotation values become unstable near full elevation

Codman’s paradox. Start with the arm at the side, palm facing medially. Flex the shoulder to 90°, then abduct horizontally through 90° to the coronal plane, then adduct back down to the side. The arm has returned to the start position, but the palm now faces laterally: the humerus has been rotated approximately 180° about its long axis without any rotation ever being performed. This is not a trick — it is a demonstration that finite rotations in three dimensions are non-commutative, and it is the clearest reason why clinical shoulder rotation values must be defined with respect to a stated sequence and starting position.

Terms of position and direction

Figure 3 · Terms of position and direction

Each pair of positional terms shown on its own row with an illustration and a worked example - superior and inferior, anterior and posterior, medial and lateral, proximal and distal, superficial and deep, ipsilateral and contralateral.
Every term comes in an opposing pair, and each describes a location rather than a movement. Superior and inferior, medial and lateral run from the body as a whole; proximal and distal belong to the limbs only.

These terms come in opposing pairs and describe location, not movement.

PairMeaningExample
Superior / inferiorNearer the head / nearer the feetThe shoulder is superior to the elbow
Cranial / caudalTowards the head / towards the tail. Preferred in embryology and for the trunkThe caudal end of the neural tube
Anterior / posteriorNearer the front / nearer the backThe sternum is anterior to the heart
Ventral / dorsalBelly side / back side. Standard in embryology and neuroanatomyThe dorsal root carries afferents
Rostral / caudalTowards the nose / towards the tail. Used within the brain, where “anterior” becomes ambiguous because the neuraxis bendsThe rostral midbrain
Medial / lateralNearer / further from the median planeThe ulna is medial to the radius
IntermediateBetween a medial and a lateral structureThe intermediate cuneiform
MedianExactly in the midlineThe median nerve; the median plane
Proximal / distalNearer / further from the trunk or point of originThe knee is proximal to the ankle
Superficial / deepNearer / further from the surfaceSkin is superficial to fascia
Internal / externalNearer the inside / outside of a cavity or organThe internal surface of the ribs
Ipsilateral / contralateralSame side / opposite sideCorticospinal lesions cause contralateral weakness above the decussation
Bilateral / unilateralBoth sides / one sideBilateral pitting oedema
Palmar (volar) / dorsalPalm side / back of handPalmar aponeurosis
Plantar / dorsalSole / upper surface of footPlantar fascia
Radial / ulnarThumb side / little-finger side of the forearm and handUlnar deviation
Tibial / fibular (peroneal)Medial / lateral side of the legThe fibular (peroneal) nerve
Preaxial / postaxialThe thumb/great-toe border / the little-finger/little-toe border of the limb budPreaxial polydactyly
Prone / supineLying face down / face upPosition the patient prone
Parietal / visceralRelating to the wall of a cavity / to the organ within itParietal pleura
Luminal / mural / adventitialFacing the lumen / within the wall / outermostMural thrombus

The two relative pairs

Proximal/distal and superficial/deep are relational only: nothing is “distal” in itself, only distal to something. “Pain in the distal thigh” is loose writing; “pain in the anteromedial thigh, 5 cm proximal to the superior pole of the patella” can be reproduced by another clinician a month later. The same applies to superficial and deep — always name both terms of the comparison.

The trunk exception

Proximal and distal belong to the limbs. On the trunk, head and neck, use superior/inferior. “Distal cervical spine” is not standard usage; “lower cervical spine” or “C6–C7” is.

Terms of movement

Figure 4 · The shape of the basic joint movements

Four panels showing a figure performing flexion and extension, abduction and adduction, rotation about the long axis, and circumduction, with the path each movement traces drawn over the body.
Circumduction is the odd one out. It is not a movement in its own right but four movements run in sequence, so the limb traces a cone.

1.7.1 The general movements

MovementDefinitionPlane and axis
FlexionThe angle between the segments decreases in the sagittal plane; the anterior surfaces approach (except at the knee and below, where posterior surfaces approach)Sagittal / frontal axis
ExtensionReturn from flexion towards, or beyond, the anatomical position. Movement beyond neutral is hyperextensionSagittal / frontal axis
AbductionMovement away from the median plane (or, in the hand and foot, from the axial line of the limb)Coronal / sagittal axis
AdductionMovement towards the median planeCoronal / sagittal axis
Medial (internal) rotationThe anterior surface of the limb turns towards the midlineTransverse / vertical axis
Lateral (external) rotationThe anterior surface turns away from the midlineTransverse / vertical axis
CircumductionSequential flexion, abduction, extension and adduction, so that the distal segment traces a cone. A combination, not an independent movementAll three
Horizontal abduction / adductionMovement of the 90°-elevated limb posteriorly / anteriorly in the transverse plane. Also called horizontal extension / flexionTransverse / vertical axis
Lateral flexionSide-bending of the trunk or neckCoronal / sagittal axis
Gliding / translationLinear movement of one surface on another, without angular changeNot applicable (translation, not rotation)

Note the axial-line convention. In the hand, abduction and adduction of the fingers are defined relative to the axis of the middle finger, not the midline of the body — so both index and ring finger move away from the middle finger in abduction. In the foot, the reference axis is the second toe.

1.7.2 Region-specific movements

RegionMovementDescription
ForearmPronationThe radius crosses over the ulna; the palm turns to face posteriorly (or downwards, with the elbow flexed)
SupinationThe bones lie parallel; the palm faces anteriorly (or upwards) — the position for carrying soup
WristRadial deviation (abduction)The hand moves towards the thumb side
Ulnar deviation (adduction)The hand moves towards the little-finger side
Ankle (talocrural)DorsiflexionThe dorsum of the foot approaches the shin
PlantarflexionThe foot points downwards
Subtalar / midfootInversion / eversionThe sole turns to face medially / laterally (frontal-plane component)
Supination / pronation of the footTriplanar composites. Supination = inversion + adduction + plantarflexion. Pronation = eversion + abduction + dorsiflexion
ScapulaElevation / depressionSuperior / inferior translation on the thoracic wall
Protraction (abduction) / retraction (adduction)Movement away from / towards the vertebral column
Upward / downward rotationThe glenoid turns to face superiorly / inferiorly — essential to full arm elevation
Anterior / posterior tilt; internal / external rotationSagittal- and transverse-plane components measured in 3D shoulder analysis
ClavicleElevation, depression, protraction, retraction, axial rotationAt the sternoclavicular joint; posterior long-axis rotation accompanies elevation
ThumbFlexion / extension; abduction / adduction; opposition / repositionNamed relative to the plane of the palm, because the thumb ray is rotated ~90°
MandibleElevation, depression, protrusion, retrusion, lateral excursionCombined rotation and translation at the temporomandibular joint
SpineFlexion, extension, lateral flexion, axial rotationWith coupled motion: lateral flexion and rotation are mechanically linked, the coupling direction differing between the cervical and lumbar regions

The thumb, explained rather than memorised

The first metacarpal is rotated approximately 90° about its long axis relative to the other four during development. Because thumb movements are named with reference to the palm rather than the body, the plane–axis pairings invert: thumb flexion and extension occur in the coronal plane of the body, and thumb abduction and adduction in the sagittal plane. Opposition is a composite of abduction, flexion and medial rotation at the saddle-shaped first carpometacarpal joint that brings the thumb pulp to meet the pulp of another digit. It is the movement that defines the human hand, and its loss (median nerve injury) costs approximately 40–50% of hand function in most impairment schedules.

1.7.3 Physiological versus accessory movement

  • Physiological (active) movements are those a patient can perform voluntarily: the osteokinematic movements above.
  • Accessory (joint play) movements are the glides, rolls, spins, distractions and compressions that occur within the joint and can only be produced passively by an examiner. They cannot be performed on request.

A joint may have full accessory movement with restricted physiological movement (a muscular or neurological problem) or restricted accessory movement with restricted physiological movement (an articular problem). Distinguishing the two is the core purpose of a manual joint examination.

1.7.4 Muscle contraction terminology

Movement terminology is incomplete without the terms for how muscle produces it. These are treated fully in Chapter 6, but note the vocabulary now:

ContractionLength changeFunctionExample
IsometricNoneStabilisationHolding a load steady
ConcentricShorteningAcceleration; muscle is the agonist doing positive workRising from a squat (quadriceps)
EccentricLengthening under tensionDeceleration and shock absorption; negative work; highest force capacity; associated with delayed-onset muscle sorenessDescending stairs (quadriceps)
Isotonic / isokineticConstant load / constant angular velocityTesting and training constructs, not naturally occurring statesDynamometry

Measuring and recording movement

Terminology becomes clinically usable only when attached to numbers.

1.8.1 The neutral-zero method

The standard convention (AAOS; also the basis of the SFTR system) sets the anatomical position as 0° for every joint. Movement is recorded as degrees away from zero. A knee that lacks 10° of full extension and flexes to 120° is recorded as 10–120°, not as “−10 to 120”. A joint moving from zero is recorded as 0–120°. This removes the ambiguity of negative numbers, which different services interpret differently.

1.8.2 SFTR notation

SFTR records movement plane by plane, with three numbers per plane in a fixed order: movement away from the body / starting position / movement towards the body.

  • S = Sagittal (extension / 0 / flexion)
  • F = Frontal (abduction / 0 / adduction)
  • T = Transverse (horizontal abduction / 0 / horizontal adduction)
  • R = Rotation (lateral / 0 / medial)

A shoulder recorded as S: 50–0–170, F: 180–0–40, R (F90): 90–0–70 is fully described in one line, and unambiguously.

1.8.3 Goniometry in brief

Every goniometric measurement requires four things to be stated: the patient’s position, the axis (fulcrum), the stationary arm alignment, and the moving arm alignment. Universal goniometry has good intra-rater reliability at most peripheral joints (ICC typically >0.90 at the knee and elbow) and lower inter-rater reliability, particularly at the shoulder, hip rotation and the subtalar joint. In practice this means: the same clinician should re-measure where possible, and a change should exceed the minimal detectable change (commonly quoted as roughly 5–10° at peripheral joints) before it is called real improvement.

1.8.4 End-feel

The quality of resistance at the end of passive range (Cyriax) is diagnostic information the number alone does not carry.

Normal end-feelsProduced byExample
Bony (hard)Bone-on-bone contactElbow extension
Firm (elastic)Capsuloligamentous or muscular tensionHip medial rotation; ankle dorsiflexion
Soft (tissue approximation)Soft tissue compressionKnee flexion; elbow flexion

Abnormal end-feels

Suggests

Empty

Pain stops the movement before tissue resistance is reached — consider acute inflammation, fracture, neoplasm; a red-flag finding

Springy block

An intra-articular displaced fragment — classically a bucket-handle meniscal tear

Muscle spasm

Sudden, guarded arrest — acute injury or instability

Boggy

Joint effusion

Capsular

Fibrosis; correlates with the joint’s characteristic capsular pattern of proportional restriction

The vocabulary of bone surfaces

Figure 5 · The surface features of a long bone

A femur from the front and from behind with every surface feature named - head, neck, greater and lesser trochanter, the borders of the shaft, the linea aspera with its two lips and the nutrient foramen on the posterior surface, the supracondylar lines, and the condyles, epicondyles and intercondylar fossa - beside a scapula labelled with its spine, processes, fossae and borders.
Every name on a bone is a description of what happens there. A line is where a sheet of muscle attaches, a tuberosity where a tendon pulls hard, and a foramen where something passes through.

A dried bone is a record of the forces that acted on it. Every named feature is evidence of a soft-tissue event: something pulled there, something slid across, something passed through, or something articulated with it. Learn the features as clues, and the names come free.

1.9.1 Elevations — where something pulls

TermDescriptionExample
ProcessAny bony projection (generic)Spinous process; coracoid process
TuberosityLarge, rounded, roughened elevationIschial tuberosity; deltoid tuberosity
TubercleSmall rounded elevationGreater tubercle of the humerus
TrochanterVery large blunt elevation — the word is reserved for the femurGreater trochanter
CrestProminent ridgeIliac crest
Line (linea)Less prominent ridge, typically a sheet-muscle attachmentLinea aspera; soleal line
SpineSharp slender projectionSpine of the scapula; anterior superior iliac spine
RamusAn arm or branch of a boneSuperior pubic ramus
MalleolusHammer-shaped processMedial and lateral malleoli
CornuHornGreater cornu of the hyoid

1.9.2 Articular features — where joints form

TermDescriptionExample
Head (caput)Rounded articular expansion, usually on a narrowed neckHead of the femur
NeckConstriction supporting the head — a common fracture siteSurgical neck of the humerus
CondyleRounded articular knuckleFemoral condyles
EpicondyleNon-articular eminence above a condyle, for attachmentMedial epicondyle of the humerus
FacetSmall, flat, smooth articular surfaceZygapophysial (facet) joints; costal facets
TrochleaPulley-shaped articular surfaceTrochlea of the humerus; trochlea of the talus
CapitulumSmall rounded articular headCapitulum of the humerus

1.9.3 Depressions and openings — where something passes or sits

TermDescriptionExample
FossaShallow depressionOlecranon fossa; iliac fossa
FoveaSmall pitFovea capitis of the femoral head
Groove (sulcus)Furrow carrying a tendon, vessel or nerveIntertubercular (bicipital) groove; radial groove
Notch (incisura)Indentation of a bone marginGreater sciatic notch; trochlear notch
ForamenHole through boneForamen magnum; obturator foramen
FissureNarrow slitSuperior orbital fissure
Canal / meatusTunnelCarpal canal; external acoustic meatus
SinusAir-filled cavity within boneFrontal sinus; mastoid air cells
AntrumA large sinus or cavityMaxillary antrum

1.9.4 Reading a bone: the inferential rules

  • Rough and raised means tensile load. A tuberosity marks an enthesis — a tendon or ligament attachment. Entheses come in two histological types: fibrous (attaching to periosteum or directly to bone, e.g. deltoid tuberosity) and fibrocartilaginous (with a transitional zone of uncalcified then calcified fibrocartilage separated by the tidemark, e.g. Achilles insertion, supraspinatus footprint). The fibrocartilaginous type dissipates stress concentration at the interface and is the site of the enthesopathies.
  • Smooth and grooved means something slides. A groove implies a tendon, vessel or nerve crossing under tension; a smooth flat facet implies articulation. Where a tendon changes direction over bone, expect a sesamoid or a fibrocartilaginous pulley (the patella; the peroneal groove of the cuboid).
  • A hole means something passes — and can be compressed. Every foramen, canal and fibro-osseous tunnel is a potential entrapment site: the carpal tunnel (median nerve), the cubital tunnel (ulnar), the fibular neck (common fibular nerve), the tarsal tunnel (tibial), the greater sciatic foramen. Reading a bone this way generates the differential diagnosis before you have seen the patient.
  • Prominence means palpability, and palpability means vulnerability. Subcutaneous bony points — the olecranon, the greater trochanter, the malleoli, the sacrum, the ischial tuberosity, the calcaneal tuberosity — are both your landmarks and your pressure-sore sites.
  • A nutrient foramen has a direction. The oblique nutrient canal of a long bone runs away from the growing end: “to the elbow I go, from the knee I flee” (the humeral canal directs distally-ish toward the elbow region while the femoral, tibial and fibular canals direct proximally away from the knee). This reflects differential epiphyseal growth rates and is a standard viva question.
  • Not all bumps are the same age. An epiphysis contributes to length; an apophysis (traction epiphysis) is a growth centre existing solely for a tendon pull — the tibial tuberosity, the calcaneal apophysis, the ischial tuberosity, the greater trochanter. Because the apophysis is a cartilaginous weak link, the adolescent athlete sustains an apophysitis (Osgood–Schlatter, Sever) or an avulsion where an adult would sustain a tendinopathy or a tear.
  • Bone form is not fixed. Trabecular architecture aligns with principal stress trajectories (the medial and lateral trabecular systems of the proximal femur, and Ward’s triangle between them), and cortical thickness follows habitual load — the structural expression of Wolff’s law, treated fully in Chapter 2. A dried bone is therefore a fossil record of that individual’s mechanical life: the hypertrophied humerus of a throwing athlete, the porotic femoral neck of a sedentary post-menopausal patient.

Regions, cavities and surface planes

1.10.1 Regional terminology

DivisionRegions
Head and neckCranial, frontal, orbital, nasal, oral, buccal, zygomatic, auricular, occipital, temporal; cervical (anterior and posterior triangles), nuchal
Trunk, anteriorSternal, pectoral, mammary, axillary, hypochondriac, epigastric, umbilical, lumbar (flank), inguinal, hypogastric (suprapubic), pubic
Trunk, posteriorVertebral, scapular, interscapular, infrascapular, lumbar, sacral, gluteal, perineal
Upper limbDeltoid, brachial (anterior/posterior), cubital (with the cubital fossa anteriorly), antebrachial, carpal, palmar (thenar, hypothenar), dorsum of hand, digital
Lower limbCoxal (hip), femoral (thigh), patellar, popliteal, crural (leg), sural (calf), tarsal, plantar, dorsum of foot, digital

“Arm” and “leg” mean less than patients think

In precise usage the arm is shoulder to elbow only, the forearm elbow to wrist, the thigh hip to knee, and the leg knee to ankle only. A patient reporting “leg pain” may mean anywhere from buttock to toes. Your record must name the region you examined, not repeat the patient’s word.

1.10.2 Abdominal regions

Two schemes coexist; know both.

  • Four quadrants (by the median and transumbilical planes): right upper, left upper, right lower, left lower. The scheme used in emergency documentation.
  • Nine regions (by two vertical mid-clavicular planes and two horizontal planes — subcostal and transtubercular, or transpyloric and intertubercular): right hypochondrium, epigastrium, left hypochondrium; right lumbar (flank), umbilical, left lumbar; right iliac (inguinal), hypogastrium (suprapubic), left iliac.

Key surface planes worth knowing now: the transpyloric plane (L1, midway between jugular notch and pubic symphysis — crossing the pylorus, pancreatic neck, hila of the kidneys, origin of the superior mesenteric artery and the ninth costal cartilages), the subcostal plane (L3), the transtubercular plane (L5), and the supracristal plane (the highest points of the iliac crests, at L4 — the landmark for lumbar puncture).

1.10.3 Body cavities and serous membranes

CavityContentsSerous lining
CranialBrain, meninges— (meninges rather than serosa)
VertebralSpinal cord, meninges, roots
ThoracicTwo pleural cavities and the mediastinumParietal and visceral pleura
— Pericardial (within the mediastinum)HeartParietal and visceral pericardium
AbdominalDigestive viscera, kidneys, suprarenalsParietal and visceral peritoneum
PelvicBladder, rectum, reproductive organsPeritoneum superiorly; extraperitoneal below

The universal serous pattern: a parietal layer lining the wall, a visceral layer covering the organ, continuous with each other and enclosing a potential space containing a thin film of lubricating fluid. Pathology in every one of these cavities is a variation on the same theme — fluid (effusion, haemothorax, ascites), air (pneumothorax), or fibrous adhesion of the two layers. For physiotherapy the pleural version is the operational one: pleural pain, restricted chest expansion and reduced diaphragmatic excursion.

Putting it to work: documentation

Terminology is not decoration. Its purpose is that a description you write today can be reconstructed exactly by a clinician who was not present, months later, possibly in a medico-legal context.

Vague: > “Pain in the outer part of the arm near the top. Worse lifting the arm out to the side. Tender on pressing.”

Precise: > “Pain over the lateral aspect of the proximal right arm, referred distally to the deltoid insertion, non-dermatomal. Reproduced on active abduction in the coronal plane between 60° and 120°, with a painful arc; passive abduction full and less painful. Tender on palpation over the greater tubercle of the humerus at the supraspinatus footprint, with the arm in extension and internal rotation. Resisted abduction in the scapular plane at 30° reproduces pain without weakness. Cervical spine screening: full painless range, negative Spurling.”

The second entry names side, region, plane, arc, landmark, test position and the structures excluded. Another clinician can repeat that examination and compare findings. That is the entire purpose of the vocabulary — not to sound authoritative, but to be reproducible.

Where the record feeds a rehabilitation plan, this precision also maps directly onto the ICF framework: the anatomical finding is a body structure impairment, the restricted abduction a body function impairment, the inability to reach an overhead shelf an activity limitation, and the inability to return to painting work a participation restriction. Anatomy sits at the base of that chain; it does not replace the rest of it.

Where students consistently go wrong

  • Describing from the patient’s actual posture. If the patient is prone, “above the scapula” is meaningless to the next reader. Describe from the anatomical position always.
  • Forgetting the palms face forward. This one detail is the reason the ulna is the medial bone, and it is asked every year.
  • Using proximal/distal on the trunk. They belong to limbs.
  • Confusing coronal and sagittal. Anchor them: a crown sits in the coronal plane; an arrow (sagitta) travels in the sagittal plane.
  • Treating circumduction as a movement. It is four movements in sequence. If asked which muscles produce it, the answer is all the flexors, abductors, extensors and adductors of that joint, acting in turn.
  • Confusing plane with degree of freedom. A joint has degrees of freedom; a movement occurs in a plane. The elbow has one DoF but its movement occurs in the sagittal plane — those are different statements.
  • Confusing foot inversion/eversion with supination/pronation. Inversion and eversion are the frontal-plane components; supination and pronation are the triplanar composites. Examiners test the distinction.
  • Learning bone features as vocabulary. A tuberosity is not a lump with a name; it is evidence of a strong pull. Learn the mechanical reason and the name is free.
  • Assuming a fixed joint axis. The axis migrates through range. This is why the moment arm — and therefore the strength curve — changes with joint angle.
  • Reporting ROM without stating the method. A number without a stated patient position, axis and convention is not reproducible data.

Check yourself

15 questions on this chapter. Tap one to see the answer and the reasoning.

Q1. In the anatomical position, the forearms are
  1. (A) pronated
  2. (B) supinated
  3. (C) mid-prone
  4. (D) flexed to 90°

Answer: (B) Palms face anteriorly; radius and ulna lie parallel and uncrossed. This is the basis for calling the ulna the medial bone.

Q2. Flexion and extension occur in which plane, about which axis?
  1. (A) coronal/sagittal
  2. (B) transverse/vertical
  3. (C) sagittal/frontal
  4. (D) coronal/vertical

Answer: (C) The movement travels along an anteroposterior surface, rotating about a mediolateral line.

Q3. A vertical plane parallel to but not through the midline is
  1. (A) median
  2. (B) paramedian
  3. (C) coronal
  4. (D) oblique

Answer: (B) Only the plane dividing the body into equal halves is median (midsagittal).

Q4. During embryonic development, the lower limb bud rotates
  1. (A) laterally ~90°
  2. (B) medially ~90°
  3. (C) laterally ~180°
  4. (D) it does not rotate

Answer: (B) Medial rotation of ~90° brings the extensor surface anteriorly and the preaxial (great toe) border medially — the opposite of the upper limb, which rotates laterally.

Q5. When a convex surface moves on a fixed concave surface, the articular glide occurs
  1. (A) in the same direction as the bone movement
  2. (B) opposite to the bone movement
  3. (C) perpendicular to it
  4. (D) there is no glide

Answer: (B) Kaltenborn’s convex–concave rule. Hence inferior glide of the humeral head during abduction.

Q6. The scapular plane lies approximately
  1. (A) 30–45° anterior to the coronal plane
  2. (B) 30–45° posterior to it
  3. (C) in the sagittal plane
  4. (D) 90° to the coronal plane

Answer: (A) It matches the scapula’s resting orientation, minimises capsular twist, and aligns deltoid with supraspinatus.

Q7. Supination of the foot is a composite of
  1. (A) eversion, abduction, dorsiflexion
  2. (B) inversion, adduction, plantarflexion
  3. (C) inversion, abduction, dorsiflexion
  4. (D) eversion, adduction, plantarflexion

Answer: (B) The subtalar axis is oblique, so its motions are triplanar.

Q8. Codman’s paradox demonstrates that
  1. (A) the shoulder has four degrees of freedom
  2. (B) finite rotations in three dimensions are non-commutative
  3. (C) the humeral head glides superiorly in abduction
  4. (D) the scapula does not rotate

Answer: (B) Order of rotation matters, which is why sequence must be stated in 3D kinematic reporting.

Q9. An “empty” end-feel most strongly suggests
  1. (A) capsular fibrosis
  2. (B) meniscal displacement
  3. (C) serious pathology such as fracture, infection or neoplasm
  4. (D) normal tissue approximation

Answer: (C) Pain arrests the movement before any tissue resistance is met — a red flag requiring investigation.

Q10. A large blunt elevation found only on the femur is a
  1. (A) tuberosity
  2. (B) tubercle
  3. (C) trochanter
  4. (D) condyle

Answer: (C) The term is reserved for the greater and lesser trochanters.

Q11. A knee lacking 10° of full extension and flexing to 120° is recorded, using the neutral-zero method, as
  1. (A) −10 to 120°
  2. (B) 10–120°
  3. (C) 0–110°
  4. (D) 120–10°

Answer: (B) The neutral-zero method avoids negative numbers by recording the limitation as the starting figure.

Q12. Abduction of the fingers is defined relative to
  1. (A) the median plane of the body
  2. (B) the axis of the middle finger
  3. (C) the axis of the index finger
  4. (D) the plane of the palm

Answer: (B) In the foot the equivalent reference is the second toe.

Q13. Which term is preferred within the brain, where “anterior” becomes ambiguous?
  1. (A) ventral
  2. (B) rostral
  3. (C) cranial
  4. (D) superficial

Answer: (B) Because the neuraxis bends at the cephalic flexure, rostral/caudal are defined along the axis itself.

Q14. An apophysis differs from an epiphysis in that it
  1. (A) contributes to bone length
  2. (B) exists solely as a traction growth centre for a tendon attachment
  3. (C) is always intra-articular
  4. (D) ossifies before birth

Answer: (B) Hence the adolescent apophysitis pattern — Osgood–Schlatter at the tibial tuberosity, Sever at the calcaneus.

Q15. On a standard axial CT image, the patient’s left side appears
  1. (A) on the viewer’s left
  2. (B) on the viewer’s right
  3. (C) at the top
  4. (D) depends on the scanner

Answer: (B) The convention is a view from the patient’s feet looking cranially.

Quick review

Everything on this page, in one screen

  • Anatomy divides into gross, microscopic, developmental, surface, radiological, neuro-, comparative and applied. Surface anatomy is the branch you will use every working day.
  • Terminologia Anatomica standardises names and prefers descriptive terms to eponyms — but clinical practice still runs on eponyms, so know both.
  • The anatomical position: erect, facing forward, feet together, arms at the sides, palms anterior. Every term is defined from it.
  • The upper limb rotates laterally ~90° and the lower limb medially ~90° in the embryo. This explains elbow-versus-knee direction, thumb-versus-hallux side, extensor compartment position, and spiralling dermatomes.
  • Sagittal divides left from right, coronal front from back, transverse upper from lower. The scapular plane sits 30–45° anterior to the coronal.
  • Movement occurs in a plane, about a perpendicular axis: sagittal/frontal = flexion–extension; coronal/sagittal = abduction–adduction; transverse/vertical = rotation.
  • Degrees of freedom is a property of the joint (1, 2 or 3 rotational). Osteokinematics = bone motion; arthrokinematics = roll, glide and spin between surfaces, governed clinically by the convex–concave rule.
  • The joint axis migrates through range (instantaneous axis of rotation); 3D description requires a stated rotation sequence (ISB/Grood–Suntay), and Codman’s paradox shows why.
  • Proximal/distal and superficial/deep are relational — always name both structures compared. Proximal/distal belong to limbs; use superior/inferior on the trunk.
  • Special movements: pronation–supination, dorsiflexion–plantarflexion, inversion–eversion (and their triplanar composites), protraction–retraction, elevation–depression, upward–downward scapular rotation, opposition–reposition. Thumb terms are defined from the plane of the palm.
  • Record ROM by the neutral-zero method or SFTR, always with patient position, and interpret alongside end-feel.
  • Bone surface features are mechanical evidence: rough = pull (enthesis), smooth groove = something slides, hole = something passes and can be entrapped, apophysis = adolescent weak link.
  • The point of all of it: a description another clinician can reproduce exactly.

Further reading

SourceWhy it earns its place
Standring S (ed.) — Gray’s Anatomy: The Anatomical Basis of Clinical Practice, 42nd ednThe reference standard. Use it to settle disputes, not to learn from cover to cover.
Palastanga N, Field D, Soames R — Anatomy and Human Movement: Structure and FunctionWritten for physiotherapists; muscles taught by function, not only attachment. The single best purchase for this subject.
Neumann DA — Kinesiology of the Musculoskeletal System: Foundations for RehabilitationThe definitive treatment of osteokinematics, arthrokinematics, axes and moment arms. Chapter 1 covers the material above at biomechanical depth.
Levangie PK, Norkin CC — Joint Structure and Function: A Comprehensive AnalysisExcellent on degrees of freedom, planes and axes, and clinical application.
Norkin CC, White DJ — Measurement of Joint Motion: A Guide to GoniometryThe reference for measurement technique, reliability data and the neutral-zero method.
Snell RS — Clinical Anatomy by RegionsRegion by region with clinical meaning integrated rather than appended.
Chaurasia BD — Handbook of General AnatomyThe standard Indian text for general anatomy; closely matched to Indian university syllabi.
Moore KL, Dalley AF, Agur AMR — Clinically Oriented AnatomyStrong on surface anatomy, cavities and the clinical blue boxes.
Drake RL, Vogl W, Mitchell AWM — Gray’s Atlas of AnatomyAn atlas, not a text. Keep it open beside whatever you are reading.
FIPAT — Terminologia Anatomica, 2nd edn (2019)The authority on nomenclature; freely consultable online.
Grood ES, Suntay WJ (1983), J Biomech EngThe original joint coordinate system paper — the basis of modern 3D knee kinematics.
Wu G et al. (2002, 2005), J BiomechISB recommendations on joint coordinate systems for the ankle, hip, spine, shoulder, elbow, wrist and hand.
Kaltenborn FM — Manual Mobilization of the JointsThe source of the convex–concave rule and the clinical grading of accessory movement.
Cyriax J — Textbook of Orthopaedic MedicineThe origin of end-feel classification and capsular patterns.

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Reviewed by the Physiotherapist India Team. · Human Anatomy contents