Automatic Determination of Shoulder Joint Limits Using Quaternion Field Boundaries.

Lorna Herda Raquel Urtasun Pascal Fua Andrew J. Hanson Automatic Determination of Shoulder Joint Limits Using Quaternion Field Boundaries. 419-438 2003 22 I. J. Robotic Res. 6 db/journals/ijrr/ijrr22.html#HerdaUFH03 http://dx.doi.org/10.1177/0278364903022006005