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Wu, G., Siegler, S., Allard, P., Kirtley, C., Leardini, A., Rosenbaum, D., et al. (2002) ISB Recommendation on Definitions of Joint Coordinate System of Various Joints for the Reporting of Human Joint Motion—Part I: Ankle, Hip, and Spine. Journal of Biomechanics, 35, 543-548.
https://doi.org/10.1016/s0021-9290(01)00222-6

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