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Due to the difference between kinematics of human joints and exoskeleton joints, joint misalignment may be brought about by human-machine interface (HMI). Joint misalignment may lead to undesired interaction forces, if not copped with properly, e.g. in the HMI mechanism with straps. In this paper, firstly the interaction forces caused by joint misalignment in HMI mechanism with straps are studied...
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