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Mar 19, 2014 at 17:22 comment added Robert Bryant Yes, but, again, in this case, the invariance of the hypersphere under a rotation group guarantees that there are degeneracies of the $k$-jet mappings involved, so, of course it simplifies in that case, just as is does in the case of a regular sphere in $3$-space. The case of a general hypersurface is much more complicated than for a hypersphere.
Mar 19, 2014 at 16:59 comment added Ayan Thank you very much for the answer. There are specific results in $\mathbb{R}^3$ for a curve, with nonzero torsion and curvature, to lie on a hyper-sphere. It can be easily generalized to $\mathbb{R}^6$ by using generalized Serret-Frenet formulas. These conditions are simply statements about the complete order of contact between the given curve and a hyper-sphere.
Mar 19, 2014 at 16:47 vote accept Ayan
Mar 19, 2014 at 15:23 history answered Robert Bryant CC BY-SA 3.0