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The Engineering Eulerian approach
In this approach, rotations happen about a frame attached to the distal bone segment. This frame changes orientation as this bone segment rotates.
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Standard approach - Global Axes
This approach considers the distal bone segment rotating about the reference frame of the proximal bone segment. The sagittal, frontal and transverse planes remain stable like the walls in a room. The distal bone segment changes orientation within this frame whereas the proximal bone segment remains immobile.
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