ISB recommendation on definitions of joint coordinate system of various joints for the reporting of human joint motion--part I: ankle, hip, and spine - Wu, G; Siegler, S; Allard, P; Kirtley, C; Leardini, A; Rosenbaum, D; Whittle, M; D’Lima, D D; Cristofolini, L; Witte, H; Schmid, O; Stokes, I (J Biomech, 2002)