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A Self-Aligning Upper-Limb Exoskeleton Preserving Natural S..:

Pan, Jun ; Astarita, Davide ; Baldoni, Andrea...
IEEE Transactions on Neural Systems and Rehabilitation Engineering.  31 (2023)  - p. 4954-4964 , 2023
Link: https://doi.org/10.1109/tnsre.2023.3341219