Abstract: A number of technical research fields have grown and matured over decades through the investigation, study, experimentation, and validation of core principles. Accepted research methodologies and standards similarly emerge and mature, but also tailored to the characteristics and scope of the field. The life and physical sciences are classical examples of this growth and maturation process. Principles of embodiment design is a relatively young field of research investigation. With the first treatises published around the mid-twentieth century, it has grown steadily in the devoted attention and depth of investigation. Because of the broad and interdisciplinary or trans-disciplinary nature of design principles, numerous forms have been suggested across disciplines, between disciplines, and at various levels of granularity or specificity. The time is now apparent to carefully study these efforts, seeking a formaliz��ation of embodiment design principles, definitions, and supporting research methodologies. In this review, I seek to make strides in formalizing principles of embodiment design in terms of the various disparate approaches. Ultimately, this review assists in enabling a fundamental understanding and development of embodiment design principles, and associated processes, as well as guiding researchers and practitioners in advancements and use of such principles