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Joint coordinate systems for the costovertebral and sternocostal joints in A. mississippiensis. (A,B) Costovertebral joint in lateral (A) and dorsal (B) views. (C,D) Sternocostal joint in lateral (C) and dorsal (D) views. Both sets of axes are oriented such that rotation about the Z-axis (blue) is bucket handle motion, the Y-axis (green) is calliper motion and the X-axis (red) is pump handle motion.
