Tijana T Ivancevic & Vladimir G Ivancevic 
Geometric Methods in Modern Biomechanics [PDF ebook] 

This book gives a comprehensive introduction into geometrical methodsof modern biomechanics. This book is designed for a rigorous, one-semester course at the graduate level. The intended audience includes mechanical, control and biomedical engineers (with stronger mathematical background), mathematicians, physicists, computer scientists and mathematical biologists, as well as all researchers and technical professionals interested in modelling and control of biomechanical systems and humanoid robots.