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. Author manuscript; available in PMC: 2011 Jul 15.

Published in final edited form as: J Neural Eng. 2007 May 4;4(3):234–245. doi: 10.1088/1741-2560/4/3/009

Measures of kinematic and kinetic performance. (A,D) The maximum joint displacement ( $d_{J}^{max}$ ) (Eq. 5), (B,E) maximum endpoint displacement ( $d_{E P}^{max}$ ) (Eq. 6), and (C,F) energetic cost (C_e) (Eq. 4) for the optimized models (JD, JU/JS, ED, ES, EU) for impulse perturbations of equal magnitude across perturbation direction (ψ).