Objective To study changes in the kinematics and joint coordination of the shoulder, elbow, and wrist joints during rolling manipulation performed by Tuina doctors. Methods The kinematic data of 10 beginners and 10 proficient Tuina doctors performing rolling manipulation were collected using a Vicon three-dimensional (3D) motion capture system, and the differences in movement patterns of the shoulder, elbow, and wrist joints between the two groups during Tuina rolling manipulation were compared. Results There was no difference in the elbow joint activity angle between the beginner group and proficient group during rolling manipulation (P>0.05), and the main differences were in the angles of wrist flexion/extension and shoulder adduction/abduction. The proficient group had a smaller shoulder adduction/abduction angle (P<0.05), and the maximum angle of palmar flexion of the wrist joint in the proficient group was significantly greater than that of the beginner group (P<0.05). Conclusions The main kinematic characteristics of rolling manipulation are flexion/extension of the wrist and rotation of the elbow and shoulders. Rolling manipulation is mainly the composite movement of forearm rotation and wrist flexion/extension. The essential ‘sinking shoulder’ operation was better mastered by the proficient group.