Data for defining individual joints Kind B B Ax(i) i Ci ay(i) i s C2 adi) i C3 rx(ij) i s j Ci ry(i,i) i siP j s C2 r,) C3 rd(i,j) i s j s CaData for defining individual joints i i i i i i i K Bi Bj ind C2 ry(i,j) j C1 rx(i,j) j C4 rd(i,j) j C3 rf(i,j) j af(i) C3 ay C2 (i) Ax C1 (i) P i s P j s P i s P i s P i s P i s P j s P j s