<p>(a) Multibody topology with illustration of the joint coordinates and the fictive planar joint in the sagittal plane indicated as one revolute (R) and two prismatic (P) joints. (b) Measured and transferred coordinates <math><msub><mi>c</mi><mo>¯</mo><mn>1</mn></msub></math>, <math><msub><mi>c</mi><mo>¯</mo><mn>2</mn></msub></math>, <math><msub><mi>c</mi><mo>¯</mo><mn>3</mn></msub></math> in constrained directions of the THR. (c) Musculoskeletal model with implanted CAD geometries of the THR.</p
