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Balance of emulated MDOF human postural systems:

Lin, Chun-Liang ; Hsiao, Sheng-Lung ; Chen, Ching-Kun
International Journal of Engineering Science.  48 (2010)  9 - p. 751-770 , 2010
Link: https://doi.org/10.1016/j.ijengsci.2010.04.001