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Quantifying the centre of rotation pattern in a multi-body ..:

Abouhossein, Alireza ; Weisse, Bernhard ; Ferguson, Stephen J.
Computer Methods in Biomechanics and Biomedical Engineering.  16 (2013)  12 - p. 1362-1373 , 2013
Link: https://doi.org/10.1080/10255842.2012.671306