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April 1, 2017The International Journal of Robotics Research

An upper-body rehabilitation exoskeleton Harmony with an anatomical shoulder mechanism: Design, modeling, control, and performance evaluation

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BKBongsu KimADAshish D. Deshpande

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Kim et al. (2017) studied this question.

synapsesocial.com/papers/6a1c0113666b677c61a91901https://doi.org/10.1177/0278364917706743
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