Biomechanical modelling and analysis of human motion are main topics of interest for a number of disciplines, ranging from biomechanics to human movement science. There exist various experimental and theoretical techniques developed to model the biomechanics and human motor system. A classic way to characterize a system is done by perturbation analysis, through applying an external perturbation and the observation of changes in the dynamic of system. In literature, human joint dynamics has been studied mainly in relation to external perturbations. However, those perturbations interact with the natural human motor behaviour. This chapter describes an approximation for non-invasive biomechanical modelling of the elbow joint dynamics from electromyographic information. A case study presents results obtained aimed at deriving a relationship between the dynamic behaviour of the human elbow joint and Surface Electromyography (SEMG) information in postural control. A set of experiments were carried out to measure bioelectrical (SEMG) and biomechanics information from human elbow joint, during postural control (i.e. isometric contractions) and correlate them with mechanical impedance at elbow joint. Estimates of elbow impedance were obtained by applying torque perturbations to the forearm. The results demonstrate that it is possible to estimate human joint dynamics from SEMG. The obtained results can contribute to the field of human motor control and also to its application in robotics and other engineering applications through the definition, specification and characterization of properties associated with the human upper limb and strategies used by people to command it.