Table 1 Derivation of embedded vector basis (EVBs) for each segment

Foot

Line connecting the heel and toe markers that is offset by ½ inter-malleolar distance (u_x)

Line running from the heel marker to ankle marker and orthogonal to the principal axis (u_z)

Orthogonal to 1^st and 2^nd axes (u_y)

Shank

Ankle joint centre to knee joint centre (u_z)

Tibial wand orientation orthogonal to principal axis (u_x)

Orthogonal to 1^st and 2^nd axes (u_y)