New least squares solutions for estimating the average centre of rotation and the axis of rotation.

@article{Gamage2002NewLS,
  title={New least squares solutions for estimating the average centre of rotation and the axis of rotation.},
  author={Sahan Gamage and Joan Lasenby},
  journal={Journal of biomechanics},
  year={2002},
  volume={35 1},
  pages={
          87-93
        }
}
A new method is proposed for estimating the parameters of ball joints, also known as spherical or revolute joints and hinge joints with a fixed axis of rotation. The method does not require manual adjustment of any optimisation parameters and produces closed form solutions. It is a least squares solution using the whole 3D motion data set. We do not assume strict rigidity but only that the markers maintain a constant distance from the centre or axis of rotation. This method is compared with… CONTINUE READING
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