A joint coordinate system for the clinical description
of three-dimensional motions: Application to the knee
E. Grood, and W. Suntay. J. BIOMECH. ENG., 105 (2):
136--144(1983)http://www.sciencedirect.com/science/article/B6T1G-3P1KXN4-2M7/2/c4348e859aa2481287a8bdc8d60f577a.
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