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ISB recommendation on definitions of joint coordinate system of various joints for the reporting of human joint motion—part I: ankle, hip, and spine[J] . Ge Wu,Sorin Siegler,Paul Allard,Chris Kirtley,Alberto Leardini,Dieter Rosenbaum,Mike Whittle,Darryl D D’Lima,Luca Cristofolini,Hartmut Witte,Oskar Schmid,Ian Stokes.Journal of Biomechanics . 2002 (4)
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