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We assume that human motion generally undergoes inertia. In other words, we assume that a joint rotates with a constant speed if there is no factors to change the speed. In the real 3D world, the rotational speed of a joint may change to some extent. So, we use the formulation below to predict a joint rotational angle at time .
means the speed around the axis k of the node i at time t. The maximum rotational speed deviation can be determined depending on a kind of motion.