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. 2020 Aug 28;8:866. doi: 10.3389/fbioe.2020.00866

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Copyright © 2020 Koelewijn and Ijspeert.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Joint angles as a function of time for the simulation controlled with the force feedback model (red), length feedback model (blue), and experiment (black). The platform motion is shown in gray for reference.