Figure 3.

Real data scenario: Euler angle sequences ($z,x^{\prime },y^{″}$ convention) and ranges of motion, $[\text{minimum}\text{angle},\text{maximum}\text{angle}]$ (each provided in degree), of real-slow (a–c) and real-fast (d–f). The segment axes and initial segment orientations are as shown in Figure 2. Note, the shoulder angles (left column) are represented w.r.t. to the initial upper arm configuration $q_{0,0}^{GS}$, rather than w.r.t. the global frame, in order to cancel out the unknown heading offset for easier interpretation.