Peripheral encoding of movement kinematics has been well-characterized, but there is little understanding of the relationship between movement kinematics and associated brain activation. We hypothesized that kinematics of passive movement is differentially represented in the sensorimotor network, reflecting the well-studied afferent responses to movement. A robotic forefinger manipulandum was used to induce passive kinematic stimuli and monitor interaction force in 41 healthy participants during whole-brain functional magnetic resonance imaging (fMRI). Levels of forefinger displacement amplitude and velocity were presented in flexion and extension. Increases in velocity were linearly associated with activation in contralateral primary somatosensory cortex (S1), bilateral secondary somatosensory cortex (S2), primary motor cortex, and supplementary motor area. No difference in activation was found for direction of the finger movement. Unexpectedly, S1 and S2 activation decreased nonlinearly with increasing displacement amplitude. We conclude that while straightforward relations were found with velocity, the complex neural representation of displacement amplitude suggests a more nuanced relationship between peripheral responses to kinematic stimuli and sensorimotor network activity. Here we present a novel, systematic characterization of the whole-brain response to passive movement kinematics.