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. Author manuscript; available in PMC: 2008 Aug 1.
Published in final edited form as: J Biomech Eng. 2008 Apr;130(2):021019. doi: 10.1115/1.2904466

Fig. 2.

Fig. 2

Schematic diagram of the motions of the Portsmouth hip simulator with the coordinate systems shown in the machine frame (X,Y,Z) and cup frame (x,y,z), as used by Bergmann et al. [12]