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. 2017 Oct 12;14:104. doi: 10.1186/s12984-017-0312-4

Fig. 2.

Fig. 2

Kinematic representation of the rotation axes. a Exoskeleton θ = {θ1, θ2, θ3, θ4, θ5}. b Human arm Ø = {Ø1, Ø2, Ø3, Ø4, Ø5}