Research Article
Estimation of Individual Muscular Forces of the Lower Limb during Walking Using a Wearable Sensor System
Figure 7
Vector operation for calculating moment arm of the hamstring; the subscript identifies the vector (, : origin and insertion), the superscript indicates which reference frame the vector is referring to (: trunk, : thigh, and : shank), : is rotational angle, is segment length, and is homogeneous transformation matrix as a function of and .