multiarticulating

Multiarticulating denotes the property of involving multiple joints or articulations. It is used as an adjective to describe movements, structures, or devices that engage more than one joint, and is closely related to terms such as multijoint and polyarticular.

In anatomy and physiology, multiarticulating (or multiarticular) describes muscles and tendons that cross two or more joints. Such muscles can coordinate actions across adjacent joints, enabling complex movements with a smaller number of actuators. Examples include the biceps brachii, which crosses the shoulder and elbow, and the rectus femoris, which crosses the hip and knee. The coordinated action of multiarticular structures contributes to functional efficiency but also presents complex force-length and moment-arm relationships across movement, affecting torque generation, stability, and energy use.

In robotics and prosthetics, multiarticulating systems incorporate several joints and actuators to achieve versatile, dexterous motion. Multiarticulated robot arms and grippers can reach around obstacles, mimic human limb function, and perform nuanced manipulation tasks. Design and control challenges include managing kinematic chains, dealing with singularities, and ensuring real-time performance. Control strategies often rely on forward and inverse kinematics, dynamics modeling, and optimization-based planning.

Etymologically, the term combines multi- (many) with articulating (relating to joints). It is sometimes hyphenated as multi-articulating, though usage varies. It is generally understood in technical contexts, though more common alternatives include multijoint or polyarticular.

See also multijoint, polyarticular, articulating muscles, robotics.