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Strategies to define anatomical coordinate systems using IMUs including (A) Denavit–Hartenberg joint representation (B) orthonormal segment coordinate system (C) non-orthonormal segment coordinate system. Subfigure A was adapted from [61] with permission from IEEE, Subfigure B was adapted from [92] with permission from Elsevier, and Subfigure C was adapted from [36] with permission from MPDI.
