This thesis explores the design, development, and evaluation of two novel non-contact ultrasound imaging methods: immersion ultrasound and optical ultrasound. Immersion ultrasound utilizes traditional piezoelectric elements in a tomographic framework to develop new algorithms and acquisition methods for quantification of tissue geometry and properties in human proximal limbs. Bone is uniquely challenging for ultrasound due to the high impedance mismatch between bone and soft-tissue in the imaging domain. New imaging algorithms are necessary for both geometric and quantitative reconstruction of subjects with bone. Multiple immersion systems were designed and constructed using the framework presented in this thesis. Mechanical systems include a 4 degrees of freedom single element system and a fully flexible 36 degrees of freedom robotic system abbreviated MEDUSA (Mechanically Discrete Ultrasound Scanning Apparatus).