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    Dear all,

    I am currently doing a masters at the University of Strathclyde and have
    encountered a problem using BodyBuilder for Biomechanics modelling software.
    The model that I have written performs kinetic and kinematic operations on
    the lower limbs during walking.

    One segment which I have created represents a small device which is attached
    to the subjects' thigh. To this device I have attached a local axis system.

    The ouptut that I wish to gain is the orientation of this local X,Y,Z to the
    global X,Y,Z, at all time points recorded. If I understand this correctly I
    should then get 9 numbers:

    - 3 describing the local X about the global X,Y,Z

    - 3 describing the local Y about the global X,Y,Z

    - 3 describing the local Z about the global X,Y,Z

    If anyone has any thoughts on how I might acheive this, or can point me in
    the direction of any resources that might help me, I would greatly
    appreciate it.

    Thank you in advance for your help.

    Best Regards,

    Andy Murphy