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. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2016 Sep 22;22(1):465–475. doi: 10.1109/TMECH.2016.2612833

TABLE I.

Description of separated links

Link J2i−1 J2i RRi+1 Ui
Projection & neural axis graphic file with name nihms853369t1.jpg graphic file with name nihms853369t2.jpg graphic file with name nihms853369t3.jpg graphic file with name nihms853369t4.jpg
Angular rate of change u;j*(s) u;j*(s)
uRR(s)
uU(s)