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. 2017 Aug 16;45(11):2648–2662. doi: 10.1007/s10439-017-1901-x

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© The Author(s) 2017

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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ATT kinematics: rotational (ϑ ₁, ϑ ₄) and prismatic (d ₂, d ₃) DOF (a), and DH kinematics chain (b).