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. Author manuscript; available in PMC: 2021 Apr 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2019 Jul 1;67(4):966–977. doi: 10.1109/TBME.2019.2926060

Fig. 6.

Fig. 6.

Desired velocity trajectory that consists of two phases: acceleration phase and uniform phase. Here only the positive part of the trajectory is illustrated.