@misc{indiciaebaa66bae2832,
  title = {A 3D generic inverse dynamic method using wrench notation and quaternion algebra.},
  author = {R Dumas and R Aissaoui and J A de Guise},
  year = {2004},
  doi = {10.1080/10255840410001727805},
  url = {https://pubmed.ncbi.nlm.nih.gov/15512759/},
  note = {Source identifier: 15512759}
}