“…A = cos f : cos r À sin f : sin a: sin r À sin f : cos a cos f : sin r + sin f : sin a: cos r sin f : cos r + cos f : sin a: sin r cos f : cos a sin f : sin r À cos f : sin a: cos r À cos a: sin r sin a cos a: cos r LEVEL Level walking [59] PIVOT Standing while turning the upper body away [6,21] ROLL Lying supine and rolling over, for example, when in bed [21] SQUAT 1 Squatting with feet flat [3] SQUAT 2 Squatting balancing on flexed toes [3] SSL Stand-sit-stand from a low seat (~40 cm high) [6,21] SSN Stand-sit-stand from a normal seat (~46 cm high) [6,21] STAIR Ascending and descending stairs [20] STOOP Standing then bending to retrieve an object from floor [6,21] SWING Swinging leg back and forth [21] TIE Sitting on a normal seat and bending to tie shoe laces [6,20] XLG Sitting on a normal seat while crossing legs [6,20] Using equation (1), when the body is posed in neutral, the knee centre position at the distal femur would lie on the femoral y-axis and have position vector, P = (0, 21, 0). To visualize the ROM of this knee centre, as a representation of the ROM of the hip joint, its position in 3D space for any given manoeuvre would be defined by equation (2).…”