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. 2017 Feb 1;11:32. doi: 10.3389/fnins.2017.00032

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Copyright © 2017 Fang, Xie, Yang and Xie.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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The joint drives. (A) The frame for the left upper limb, (B) the frame for the lower limbs. (1) The sliding nut with a clamp, (2) the shoulder drive, (3) the hip drive, (4) the knee drive, (5) the ankle drive.