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A functionality test at the level of individual muscles may be effective for neuromuscular function tests. This paper proposes a novel computational method for neuromuscular function test planning using an individual muscle force control technique assisted by a rehabilitation robot. The algorithm will systematically compute an adequate amount and direction of force that a subject needs to exert, e...
This paper demonstrates that a 1-DOF planar ball-throwing robot has the capability of controlling three kinematic variables of a ball independently: translational velocity, angular velocity, and direction. The throwing motion is modeled using two underactuated contact dynamics, called a finger-link contact model and a fingertip contact model, with a unidirectional transition from one model to another...
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