Kinematic Chain Theory

A theoretical framework developed by Yves Guiard describing how the two hands work together in bimanual tasks. The theory distinguishes between symmetric interactions (both hands perform the same movement) and asymmetric interactions (hands perform different complementary roles). In asymmetric tasks, the non-dominant hand typically provides a stabilizing frame of reference while the dominant hand performs precise actions—like holding paper while writing. This framework is used in HCI and accessibility research to categorize two-handed interactions and design accessible one-handed alternatives.