The Legislation that has been built up around this, is down to interpretation of this.
What does infringe mean?
Collective (Millitia) vs. Individual right
Who are the people?
Which arms were they talking about?
+1. Or at least the Legislation that has been built up around the 2cd SHOULD be based on these questions. We all know there are gun control laws that pretend the 2cd amendment does not exist, and hopefully post-Heller cases will strike them down in the near future.
Anyway, here are the answers from the Heller and Miller decisions to the relevant questions listed above, as I understand them (not a lawyer, don’t play one on TV, you have the right to your understanding, etc.)
What does infringe mean?
Do you have an arm (a weapon?) Is it of the type in common use today? Are you allowed under the Law to bear it (carry, use) for traditional lawful purposes? Then your rights are not infringed.
Do the majority of households in the US have at least one such weapon, and are people allowed to carry/use it? Are there more privately owned firearms in the U.S. then people? Then the right of the People has not been infringed.
Collective (Militia) vs. Individual right
If required, could the majority of able bodied citizens in the U.S. join together for the common defense, each with a weapon they themselves supplied? Then the individual right and responsibility to secure the free state exists. (It does not matter if the Government, State or Federal calls them up, or if they just organize themselves.)
Who are the people?
For the purposes of the 2cd amendment, citizens and legal residents of the US willing and capable to join together for the common defense and secure the free state.
Which arms were they talking about?
Those in common use for traditional lawful purposes.