@article{EhrigTaylorDudaetal.2006, author = {Rainald Ehrig and William R. Taylor and G. Duda and Markus O. Heller}, title = {A Survey for Formal Methods for Determining the Centre of Ball Joints}, journal = {Journal of Biomechanics}, number = {39}, pages = {2798 -- 2809}, year = {2006}, }