@misc{indiciae42c6e11b160a,
  title = {Joint rotation between two attitudes in the spherical rotation coordinate system.},
  author = {Pei Lai Cheng},
  year = {2004},
  doi = {10.1016/j.jbiomech.2004.01.019},
  url = {https://pubmed.ncbi.nlm.nih.gov/15336921/},
  note = {Source identifier: 15336921}
}