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. Author manuscript; available in PMC: 2019 May 15.
Published in final edited form as: IEEE ASME Trans Mechatron. 2017 Nov 1;22(6):2780–2789. doi: 10.1109/TMECH.2017.2767906

Fig.4.

Fig.4.

(A) System control block diagram; (B) Detailed expression of the bidirectional interpreter block shows the signal flow chart for obtaining angle values.