The paper derives a constrained transformation between muscle moment arms and quaternion-coordinate muscle length Jacobians, allowing muscle torque calculation in quaternion-based musculoskeletal simulations.
Geiger, and Steven K
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Calculation of a force effect from muscle action to a quaternion-based musculoskeletal model
The paper derives a constrained transformation between muscle moment arms and quaternion-coordinate muscle length Jacobians, allowing muscle torque calculation in quaternion-based musculoskeletal simulations.