Interpolation of segment Euler angles can provide a robust estimation of segment angular trajectories during asymmetric lifting tasks.
Xu X, Chang CC, Faber GS, Kingma I, Dennerlein JT. Interpolation of segment Euler angles can provide a robust estimation of segment angular trajectories during asymmetric lifting tasks. J Biomech. 2010 Jul 20; 43(10):2043-8.