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I
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[
1
-
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T
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[
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[
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[
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11
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r
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ev
ices
[
14
-
16
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
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n
li
n
ea
r
n
at
u
r
e
[
18
]
,
[
19
]
.
L
in
ea
r
co
n
tr
o
l
m
eth
o
d
s
w
er
e
ap
p
lied
f
o
r
co
n
tr
o
l
o
f
FES
-
a
s
s
i
s
ted
s
i
t
-
to
-
s
t
an
d
m
o
v
e
m
en
t
s
a
s
d
ep
icted
in
th
e
w
o
r
k
s
o
f
Do
l
an
et
al.
[
17
]
,
Po
b
o
r
o
n
u
ic
[
20
]
,
Yu
et
al.
[
18
]
,
th
e
a
u
t
h
o
r
s
d
id
n
o
t
i
n
d
icate
m
at
h
e
m
a
tical
m
o
d
el
u
s
ed
e
v
e
n
t
h
o
u
g
h
f
o
r
li
n
ea
r
co
n
tr
o
l
s
c
h
e
m
e
s
t
h
e
m
o
d
el
h
as
to
b
e
lin
ea
r
ized
if
i
t
is
n
o
t
l
in
ea
r
.
T
h
e
in
telli
g
en
t
co
n
tr
o
l
s
ch
e
m
es
w
er
e
also
p
r
o
p
o
s
ed
a
n
d
s
o
m
e
o
f
th
e
w
o
r
k
s
i
n
th
at
r
eg
ar
d
s
in
cl
u
d
e
th
at
o
f
Da
v
o
o
d
i
an
d
An
d
r
e
w
s
[
21
]
,
[
22
]
.
C
o
m
p
u
ter
m
o
d
els
w
er
e
u
s
ed
an
d
o
n
e
o
f
t
h
e
m
aj
o
r
s
h
o
r
tco
m
i
n
g
s
o
f
t
h
e
in
telli
g
e
n
t
ap
p
r
o
ac
h
is
lack
o
f
m
at
h
e
m
at
ical
m
o
d
el
f
o
r
s
ta
b
il
it
y
s
tu
d
ie
s
.
Hen
ce
,
s
tab
ilit
y
an
al
y
s
i
s
ca
n
n
o
t
b
e
ac
h
iev
ed
ea
s
il
y
[
23
]
ev
en
th
o
u
g
h
t
h
e
m
et
h
o
d
s
u
s
ed
to
y
i
eld
g
o
o
d
r
esu
lt
s
.
C
o
m
b
i
n
ed
l
in
ea
r
an
d
n
o
n
l
in
ea
r
m
et
h
o
d
s
w
as
p
r
o
p
o
s
ed
b
y
P
r
ev
id
i
et
al.
[
24
]
an
d
n
o
n
l
in
e
ar
ap
p
r
o
ac
h
es
w
er
e
p
r
esen
te
d
b
y
E
s
p
a
n
j
an
i
a
n
d
T
o
w
h
id
k
a
h
[
25
]
,
also
v
ir
tu
al
m
o
d
el
s
w
er
e
u
s
ed
.
T
h
e
ad
v
an
tag
e
o
f
t
h
e
n
o
n
li
n
ea
r
co
n
tr
o
l
s
ch
e
m
e
is
th
at
t
h
e
y
ca
n
b
e
u
s
ed
w
it
h
n
o
n
li
n
ea
r
m
o
d
els
w
h
ich
ar
e
u
s
u
all
y
c
lo
s
e
r
to
r
ea
l
s
y
s
te
m
s
.
A
d
d
itio
n
all
y
,
th
e
m
at
h
e
m
atica
l
m
o
d
el
s
ca
n
b
e
u
s
ed
f
o
r
s
tab
ilit
y
s
t
u
d
ies.
T
h
is
s
tu
d
y
is
a
n
in
itia
l
p
h
ase
o
f
d
ev
elo
p
in
g
an
i
m
p
r
o
v
ed
n
o
n
li
n
ea
r
m
o
d
el
o
f
th
e
FES
-
a
s
s
i
s
ted
s
it
-
to
-
s
tan
d
m
o
v
e
m
en
ts
u
s
i
n
g
t
h
e
p
r
in
cip
le
o
f
r
o
b
o
tics
.
I
n
v
o
lv
i
n
g
m
o
r
e
j
o
in
ts
;
w
h
ic
h
i
m
p
r
o
v
es
ac
cu
r
ac
y
a
n
d
f
le
x
ib
ilit
y
,
m
o
r
e
g
r
a
y
m
o
d
el
;
co
m
b
i
n
es
m
o
r
e
e
x
p
er
i
m
e
n
t
al
an
d
a
n
al
y
tical
p
r
o
p
er
ties
an
d
i
n
co
r
p
o
r
atin
g
f
i
n
d
in
g
;
w
h
ic
h
p
o
r
tr
a
y
s
t
h
at
th
e
u
p
p
er
li
m
b
s
s
u
p
p
o
r
ts
a
b
o
u
t
1
0
%
o
f
th
e
w
ei
g
h
t.
T
h
e
m
a
n
u
s
cr
ip
t
w
as
s
tr
u
ct
u
r
ed
s
u
ch
t
h
at
t
h
e
i
n
tr
o
d
u
ctio
n
g
i
v
e
s
a
n
o
v
er
v
ie
w
o
n
t
h
e
s
tu
d
y
.
Mo
d
ellin
g
m
et
h
o
d
o
lo
g
y
;
b
r
ief
l
y
e
x
p
lai
n
th
e
w
h
o
le
co
n
ce
p
t
e
m
p
lo
y
ed
an
d
w
as
f
o
llo
w
ed
b
y
s
h
o
r
t
r
esu
lt
s
e
x
p
lan
atio
n
r
ef
er
r
ed
to
as
„
r
esu
lts
a
n
d
d
is
cu
s
s
io
n
‟
.
Fi
n
all
y
,
th
e
co
n
c
l
u
s
io
n
r
o
u
n
d
s
u
p
ev
er
y
th
i
n
g
.
2.
M
O
DE
L
L
I
N
G
M
E
T
H
O
D
O
L
O
G
Y
Kin
e
m
atic
s
b
asicall
y
s
h
o
w
s
t
h
e
r
elatio
n
s
h
ip
b
et
w
ee
n
t
h
e
lin
k
o
r
s
eg
m
e
n
t
len
g
t
h
s
a
n
d
j
o
in
t
an
g
les
o
f
th
e
m
o
d
el,
an
d
h
e
n
ce
,
th
e
co
o
r
d
in
ates
an
d
o
r
ien
tatio
n
i
n
s
p
ac
e
[
26
]
,
[
27
]
.
I
t
y
ield
s
eq
u
atio
n
s
t
h
at
p
o
r
tr
ay
m
o
tio
n
s
o
f
r
o
b
o
tic
s
tr
u
ctu
r
e
w
it
h
o
u
t
g
i
v
e
n
co
n
s
id
er
atio
n
s
to
th
e
ef
f
ec
ts
o
f
to
r
q
u
es
an
d
f
o
r
ce
s
,
e
m
p
h
a
s
es
i
s
g
iv
e
n
to
th
e
g
eo
m
e
tr
y
.
I
n
th
e
m
o
d
elin
g
r
ele
v
an
t
r
o
b
o
tics
p
r
in
cip
les
w
er
e
ap
p
lied
.
T
h
e
m
o
d
el
p
r
o
p
o
s
ed
w
as
b
a
s
ed
o
n
th
e
w
o
r
k
s
o
f
N
u
zi
k
et
al.
[
28
]
,
D
av
o
o
d
i
an
d
An
d
r
e
w
s
[
21
]
,
Yu
et
al.
[
18
]
,
Ka
m
n
ik
et
a
l.
[
29
]
,
Fattah
et
al.
[
30
]
,
T
s
u
k
ah
ar
a
et
al.
[
31
]
an
d
Stev
er
m
er
an
d
Gil
lette
[
32
]
.
T
h
e
s
it
-
to
-
s
ta
n
d
m
o
v
e
m
e
n
t
w
a
s
co
n
ce
p
tu
alize
d
as
h
av
i
n
g
t
h
r
ee
p
h
a
s
es;
t
h
e
i
n
i
tial,
tr
an
s
itio
n
al
an
d
t
h
e
f
i
n
al
p
h
as
e
s
.
Fi
g
u
r
e
1
(
a)
an
d
Fig
u
r
e
1
(
b
)
w
er
e
illu
s
tr
atio
n
s
o
f
t
h
e
f
ir
s
t
an
d
l
ast
p
h
a
s
es
r
esp
ec
ti
v
el
y
.
T
h
e
t
r
an
s
itio
n
p
h
a
s
e
is
in
b
et
w
ee
n
th
e
t
w
o
,
w
h
ic
h
ar
e
ter
m
i
n
al
p
o
in
ts
i
n
th
e
m
a
n
e
u
v
er
.
T
h
e
m
o
v
e
m
e
n
t
w
as
a
s
s
u
m
e
to
o
cc
u
r
o
n
th
e
s
ag
ittal
p
lan
e
,
m
a
k
i
n
g
it
a
p
lan
a
r
m
o
tio
n
.
Fig
u
r
e
1
.
C
o
n
ce
p
tu
alize
d
i
n
iti
al
an
d
f
i
n
al
s
it
-
to
-
s
ta
n
d
p
o
s
itio
n
s
T
h
e
v
ar
io
u
s
s
e
g
m
en
t
len
g
t
h
s
w
er
e
o
b
tain
ed
as
d
escr
ib
ed
in
t
h
e
w
o
r
k
s
o
f
W
in
ter
,
[
33
]
w
h
ic
h
ar
e
an
th
r
o
p
o
m
etr
y
b
ased
.
P
ar
ap
le
g
ic
s
u
b
j
ec
t
P
3
f
r
o
m
th
e
w
o
r
k
s
o
f
Fer
r
ar
in
an
d
P
ed
o
tti,
[
34
]
w
a
s
s
elec
ted
f
o
r
th
e
s
tu
d
y
.
T
h
e
s
e
g
m
en
ta
l le
n
g
t
h
s
ar
e
as lis
ted
in
T
ab
le
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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:
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0
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8
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8708
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7
,
No
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6
,
Dec
em
b
er
2
0
1
7
:
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0
6
0
–
3
0
6
9
3062
T
ab
le
1
.
Se
g
m
en
t L
e
n
g
th
s
of
t
h
e
P
ar
ap
leg
ic
P
3
w
it
h
Hei
g
h
t
1
7
8
cm
,
W
eig
h
t 8
5
Kg
an
d
Ag
e
2
5
Yea
r
s
S
/
N
o
.
S
e
g
me
n
t
Le
n
g
t
h
(
c
m)
1
S
h
a
n
k
5
0
.
7
2
T
h
i
g
h
4
3
.
6
3
T
r
u
n
k
5
1
.
3
4
F
e
e
t
t
o
S
u
p
p
o
r
t
D
i
st
a
n
c
e
3
0
.
0
5
S
u
p
p
o
r
t
9
8
.
0
6
L
o
w
e
r
A
r
m
2
5
.
8
7
U
p
p
e
r
A
r
m
3
3
.
5
8
H
e
a
d
a
n
d
N
e
c
k
3
2
.
4
I
n
r
o
b
o
tics
h
o
w
ev
er
t
h
e
m
a
n
ip
u
lato
r
s
w
er
e
m
ad
e
u
p
o
f
lin
k
s
a
n
d
ar
e
in
ter
co
n
n
ec
te
d
b
y
j
o
in
t
s
f
o
r
m
i
n
g
t
h
e
en
tire
s
tr
u
ctu
r
e
c
alled
th
e
k
in
e
m
atic
c
h
ai
n
.
T
h
er
e
ar
e
b
asicall
y
th
r
ee
t
y
p
es
o
f
j
o
in
ts
;
r
ev
o
lu
te,
p
r
is
m
atic
a
n
d
s
o
ck
et
j
o
in
ts
.
R
ev
o
lu
te
o
r
r
o
tar
y
j
o
in
t
as
t
h
e
n
a
m
e
i
m
p
l
ies
u
s
u
a
ll
y
g
i
v
e
r
is
e
to
r
o
tatio
n
b
et
w
ee
n
a
p
air
o
f
lin
k
s
,
th
e
p
r
is
m
a
tic
o
r
lin
ea
r
jo
in
t
is
f
o
r
lin
ea
r
m
o
v
e
m
en
t
b
et
w
ee
n
d
u
al
ad
j
ac
en
t
lin
k
s
an
d
th
e
s
o
c
k
et
j
o
in
t
h
as
th
e
co
m
b
i
n
e
p
r
o
p
er
ties
o
f
th
e
r
ev
o
l
u
te
an
d
p
r
is
m
at
ic
j
o
in
ts
[
35
]
.
T
h
e
c
o
u
n
ti
n
g
o
f
th
e
j
o
in
ts
u
s
u
all
y
s
tar
ts
f
r
o
m
ze
r
o
f
r
o
m
t
h
e
b
ase
f
r
a
m
e
a
n
d
h
ig
h
es
t
n
u
m
b
er
o
f
th
e
j
o
in
ts
g
i
v
es
th
e
d
eg
r
ee
o
f
f
r
ee
d
o
m
(
D
OF)
o
f
th
e
r
o
b
o
t
f
o
r
s
i
m
p
le
p
lan
er
o
p
en
lo
o
p
ch
ain
co
n
f
i
g
u
r
atio
n
s
a
ls
o
k
n
o
w
n
as
s
er
ial
co
n
f
i
g
u
r
at
io
n
s
.
I
n
t
h
e
ca
s
e
o
f
clo
s
ed
l
o
o
p
ch
ain
s
o
r
co
m
b
in
atio
n
s
o
f
o
p
en
an
d
clo
s
ed
lo
o
p
ch
ain
s
t
h
e
Gr
̈
b
b
ler
‟
s
m
e
th
o
d
ca
n
b
e
ap
p
lied
[
35
]
.
T
h
e
b
o
d
y
s
eg
m
e
n
ts
i
n
Fi
g
u
r
e
1
(
a)
an
d
Fig
u
r
e
1
(
b
)
w
er
e
ca
r
ef
u
ll
y
as
s
ig
n
ed
co
n
f
i
g
u
r
atio
n
s
o
f
lin
k
s
a
n
d
j
o
in
t a
n
g
le
s
as s
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5
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Fig
u
r
e
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w
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p
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r
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ig
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e.
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a
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a
n
d
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h
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3
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r
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n
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ce
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t 0
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it
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th
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ir
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an
ch
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ter
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io
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e
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p
to
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o
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r
an
ch
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is
m
ad
e
u
p
o
f
lin
k
s
:
1
1
,
1
2
an
d
1
3
,
w
h
i
le
b
r
an
ch
2
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m
p
r
is
e
s
o
f
li
n
k
s
:
2
1
,
2
2
,
2
3
an
d
2
4
.
B
o
th
b
r
an
ch
es
co
m
b
in
e
a
t
j
o
in
t
5
an
d
a
f
ter
it
w
a
s
t
h
e
li
n
k
5
;
th
e
h
ea
d
-
n
ec
k
s
e
g
m
e
n
t.
T
h
e
s
u
itab
le
j
o
in
t
a
s
th
e
cu
t
j
o
in
t
f
o
r
t
h
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n
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itio
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was
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o
in
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5
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De
n
av
it
-
Har
te
n
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g
(
DH)
m
et
h
o
d
is
ap
p
l
ied
f
o
r
th
e
a
n
al
y
s
i
s
a
n
d
T
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le
3
s
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o
w
s
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h
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DH
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ar
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eter
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f
t
h
e
p
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p
o
s
ed
s
it
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to
-
s
t
an
d
m
o
d
el.
T
h
e
eq
u
atio
n
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n
s
tit
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ti
n
g
t
h
e
d
ir
ec
t
k
in
e
m
at
ics
f
o
r
th
e
ab
o
v
e
s
ce
n
ar
io
ca
n
b
e
o
b
tain
ed
u
s
in
g
E
q
u
atio
n
(
1
)
[
27
]
.
W
h
er
e;
(
)
is
th
e
o
v
er
all
tr
an
s
f
o
r
m
atio
n
m
atr
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x
w
h
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h
g
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t
h
e
k
in
e
m
at
ics
eq
u
at
io
n
,
ar
e
th
e
s
eq
u
en
tial tr
an
s
f
o
r
m
atio
n
w
i
th
in
th
e
clo
s
ed
ch
ai
n
an
d
,
ar
e
th
e
tr
an
s
f
o
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m
atio
n
s
af
ter
th
e
clo
s
ed
lo
o
p
ch
ain
.
T
h
e
p
r
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ce
s
s
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f
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tin
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)
is
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s
u
all
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ac
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ie
v
ed
in
s
ta
g
es:
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s
t
a
s
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itab
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in
t
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elec
ted
in
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eg
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,
th
e
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o
m
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tio
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ar
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th
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th
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ts
f
o
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t
h
e
f
r
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m
e
s
s
u
c
h
th
a
t
it
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lted
in
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n
u
m
b
er
o
f
j
o
in
t
v
ar
iab
les
a
n
d
f
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n
all
y
t
h
e
o
v
er
all
tr
an
s
f
o
r
m
at
io
n
is
co
m
p
u
ted
b
y
co
m
b
in
in
g
t
h
at
o
f
t
h
e
clo
s
ed
lo
o
p
ch
ain
o
b
tain
ed
an
d
o
th
er
s
(
w
h
ich
ar
e
m
u
lt
ip
l
ied
)
.
(
)
(
1
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T
h
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ter
m
s
ar
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v
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to
r
m
u
ltip
licatio
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tain
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r
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o
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DH
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ar
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eter
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w
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e;
th
e
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o
f
th
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th
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z
-
ax
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s
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th
e
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te
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o
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n
b
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th
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a
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(
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,
t
r
an
s
latio
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alo
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z
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a
x
is
(
)
r
ef
er
r
ed
to
as
th
e
l
in
k
o
f
f
s
et
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tr
an
s
lat
io
n
o
n
th
e
x
-
a
x
is
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atic
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(
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3
1
5
A
=
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a
(
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I
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ai
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at
t
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m
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n
g
j
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p
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o
in
t
5
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t
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o
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d
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f
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o
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b
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c
h
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s
at
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t
s
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s
a
m
e
.
T
h
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if
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u
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tr
ac
ted
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o
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=0
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ce
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e
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u
r
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o
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t
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les,
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is
n
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n
ee
d
to
u
s
e
all
j
o
in
ts
p
ar
a
m
eter
s
[
27
]
,
[
36
]
.
1
0
1
2
0
2
2
2
0
3
4
4
q
p
q
p
q
R
=
T
0
0
0
(
9
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h
e
b
r
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ch
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it
h
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t
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u
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ied
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h
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o
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m
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ell
a
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atic
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(
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
K
in
ema
tic
Mo
d
ellin
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o
f F
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it
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3065
;
g
i
v
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o
r
d
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ates
w
i
th
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to
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r
a
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co
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ates
w
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er
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th
e
f
i
f
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,
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m
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atr
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x
.
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n
r
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b
o
tics
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y
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h
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n
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o
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t
d
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ai
n
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t
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h
er
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d
th
e
tr
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ec
to
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y
is
th
e
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m
e
d
o
m
ai
n
d
escr
i
p
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o
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th
e
m
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v
e
m
en
t
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d
s
y
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te
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d
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e
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ler
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it
is
a
ti
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e
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ep
e
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d
en
t
p
at
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.
U
s
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al
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ca
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u
s
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g
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s
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o
r
ith
m
s
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b
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,
also
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ated
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ai
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t
h
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p
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s
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o
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ics.
R
es
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lt
s
o
f
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t
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to
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ies in
r
elatio
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to
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p
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s
,
v
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lo
cities a
n
d
ac
ce
ler
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n
s
r
ea
ch
ed
[
26
]
,
[
27
]
.
3.
RE
SU
L
T
S
A
ND
D
I
S
CU
SS
I
O
N
I
t
ca
n
b
e
s
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f
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m
Fi
g
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r
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2
th
at
th
e
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m
p
lete
m
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m
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n
t
m
o
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el
h
as
6
DOF
w
h
ic
h
w
a
s
o
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tain
ed
u
s
i
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g
t
h
e
Gr
̈
b
b
ler
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s
ap
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cc
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d
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g
to
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et
h
o
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n
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f
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o
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v
en
s
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ct
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ca
n
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u
s
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g
E
q
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atio
n
s
(
1
2
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an
d
(
1
3
)
[
35
]
.
W
h
er
e:
DOF; is
th
e
n
u
m
b
er
o
f
d
e
g
r
ee
s
o
f
f
r
ee
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o
m
,
n
; r
ig
id
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o
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y
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d
eg
r
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o
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o
m
,
M;
th
e
n
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m
b
er
o
f
li
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k
s
,
J
;
th
e
n
u
m
b
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o
f
j
o
in
ts
,
;
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e
n
u
m
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co
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tr
ai
n
t
s
o
n
a
g
i
v
e
n
j
o
in
t
k
,
a
n
d
;
j
o
in
t
k
n
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m
b
er
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f
f
r
ee
d
o
m
.
A
p
p
l
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to
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g
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r
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2
:
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al
s
3
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m
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eq
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als
8
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J
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als
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n
d
f
eq
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als
1
f
o
r
all
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e
r
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o
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t
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o
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n
ce
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b
s
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itu
t
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(
1
2
)
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d
(
1
3
)
a
p
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DO
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w
as o
b
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as 6
.
(
)
∑
(
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2
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(
1
3
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Fig
u
r
e
3
.
J
o
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t k
in
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m
atic
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n
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tio
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ap
p
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ated
F
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6
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d
(
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.
T
h
e
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o
b
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tics
p
r
in
cip
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h
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1
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2
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
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6
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er
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4
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v
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q
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s
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ated
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Fig
u
r
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3
.
T
h
e
tr
an
s
f
o
r
m
atio
n
o
n
l
y
i
n
v
o
l
v
es
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q
u
a
tio
n
s
(
6
)
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n
d
(
8
)
.
T
h
e
n
u
m
b
er
o
f
t
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e
DO
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ca
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b
e
d
eter
m
in
ed
u
s
i
n
g
th
e
f
o
r
m
u
lar
as
w
ell.
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n
ce
,
r
ed
u
cin
g
t
h
e
m
o
d
el
co
m
p
lex
it
y
.
T
h
e
p
ath
s
o
f
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e
j
o
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t
s
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s
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ciate
d
w
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m
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m
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t
ca
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o
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f
r
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m
E
q
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(
1
0
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.
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ce
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ates
o
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E
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s
(
1
4
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,
(
1
5
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,
(
1
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a
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(
1
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r
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.
An
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o
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(
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0
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.
Kn
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r
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m
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Fig
u
r
e
5
.
Hip
jo
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t lo
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Fig
u
r
e
4
,
Fi
g
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r
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5
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d
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g
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6
s
h
o
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p
ath
s
/lo
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o
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,
h
ip
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d
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k
j
o
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w
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x
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u
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s
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65
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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ly
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E
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(
9
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[
27
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,
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36
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an
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in
Fig
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4
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30
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31
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m
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[
37
]
.
I
t
w
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b
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co
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ated
in
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NO
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Gr
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UT
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d
A
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B
U”.
RE
F
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NC
E
S
[1
]
S
.
Je
z
e
rn
ik
,
P
.
In
d
e
rb
it
z
i
n
,
T
.
Ke
ll
e
r,
a
n
d
R.
Rien
e
r,
"
A
n
o
v
e
l
slid
in
g
mo
d
e
c
o
n
tro
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ler
fo
r
fu
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ti
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trica
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stimu
la
ti
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,"
i
n
P
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o
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e
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in
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o
f
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1
5
t
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IF
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C
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Co
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g
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n
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u
to
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ti
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Co
n
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Ba
rc
e
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a
S
e
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io
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T
-
Mo
-
M
2
0
:
M
o
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a
n
d
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o
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o
l
in
Bi
o
m
e
d
ica
l
S
y
ste
m
s,
2
0
0
2
.
[2
]
W
.
K.
Du
rf
e
e
,
"
G
a
it
re
sto
ra
ti
o
n
b
y
f
u
n
c
ti
o
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a
l
e
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tri
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l
stim
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latio
n
,
"
i
n
Cli
m
b
in
g
a
n
d
W
a
lki
n
g
R
o
b
o
ts
,
e
d
:
S
p
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e
r,
2
0
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6
,
p
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.
1
9
-
26.
[3
]
Y.
Ch
e
n
,
J.
Hu
,
L
.
P
e
n
g
,
a
n
d
Z.
-
g
.
Ho
u
,
"
T
h
e
F
ES
-
a
ss
isted
c
o
n
tro
l
f
o
r
a
lo
we
r
li
m
b
re
h
a
b
il
it
a
ti
o
n
ro
b
o
t:
sim
u
latio
n
a
n
d
e
x
p
e
rim
e
n
t,
"
Ro
b
o
ti
c
s
a
n
d
Bi
o
mime
ti
c
s,
v
o
l.
1
,
p
p
.
1
-
2
0
,
2
0
1
4
.
[4
]
N.
A
ra
n
tes
,
D.
V
a
z
,
M
.
M
a
n
c
in
i,
M
.
P
e
re
ira,
F
.
P
in
t
o
,
a
n
d
T
.
P
i
n
to
,
"
Ef
fe
c
ts
o
f
f
u
n
c
ti
o
n
a
l
e
lec
tri
c
a
l
sti
m
u
latio
n
a
p
p
li
e
d
t
o
t
h
e
w
rist
a
n
d
f
in
g
e
r
m
u
sc
le
s
o
f
h
e
m
ip
a
re
ti
c
su
b
jec
ts:
a
s
y
ste
m
a
ti
c
re
v
ie
w
o
f
th
e
li
tera
tu
re
,
"
Bra
zili
a
n
J
o
u
rn
a
l
o
f
P
h
y
sic
a
l
T
h
e
ra
p
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,
v
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.
1
1
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p
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4
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9
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7
,
2
0
0
7.
0
2
4
6
8
10
12
14
16
18
20
115
120
125
130
135
140
145
150
x
0
(
c
m
)
y
0
(
c
m
)
0
2
4
6
8
10
12
14
16
145
150
155
160
165
170
175
180
x
0
(
c
m
)
y
0
(
c
m
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
6
,
Dec
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b
er
2
0
1
7
:
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3068
[5
]
G
.
P
.
Bra
z
,
M
.
Ru
ss
o
l
d
,
a
n
d
G
.
M
.
Da
v
is,
"
F
u
n
c
ti
o
n
a
l
e
lec
tri
c
a
l
stim
u
latio
n
c
o
n
tr
o
l
o
f
sta
n
d
i
n
g
a
n
d
ste
p
p
in
g
a
f
ter
sp
in
a
l
c
o
r
d
in
j
u
ry
:
A
r
e
v
ie
w
o
f
t
e
c
h
n
ica
l
c
h
a
ra
c
teristics
,
"
Ne
u
ro
mo
d
u
l
a
ti
o
n
:
T
e
c
h
n
o
lo
g
y
a
t
t
h
e
Ne
u
ra
l
In
ter
f
a
c
e
,
v
o
l.
1
2
,
p
p
.
1
8
0
-
1
9
0
,
2
0
0
9
.
[6
]
H.
Ke
rn
,
U.
Ca
rra
ro
,
N.
A
d
a
m
i,
D.
Biral,
C.
Ho
f
e
r,
C.
F
o
rstn
e
r
,
e
t
a
l.
,
"
Ho
m
e
-
b
a
se
d
f
u
n
c
ti
o
n
a
l
e
lec
tri
c
a
l
stim
u
latio
n
re
sc
u
e
s
p
e
r
m
a
n
e
n
tl
y
d
e
n
e
rv
a
ted
m
u
sc
les
in
p
a
ra
p
leg
ic
p
a
ti
e
n
ts
w
it
h
c
o
m
p
lete
lo
we
r
m
o
to
r
n
e
u
r
o
n
les
io
n
,
"
Ne
u
ro
re
h
a
b
i
li
ta
ti
o
n
a
n
d
n
e
u
ra
l
re
p
a
ir,
2
0
1
0
.
[7
]
A
.
P
a
p
a
c
h
risto
s,
"
F
u
n
c
ti
o
n
a
l
El
e
c
tri
c
a
l
S
ti
m
u
latio
n
in
P
a
ra
p
leg
ia,"
in
T
o
p
ics
in
P
a
ra
p
leg
i
a
,
Y.
Di
o
n
y
ss
io
ti
s,
Ed
.
,
e
d
,
2
0
1
4
,
p
p
.
1
0
9
-
1
2
6
.
[8
]
J.
F
.
T
a
n
,
K.
M
a
sa
n
i,
A
.
H.
V
e
tt
e
,
J.
Zariff
a
,
M
.
Ro
b
in
so
n
,
C.
Ly
n
c
h
,
e
t
a
l.
,
"
In
v
e
rted
p
e
n
d
u
l
u
m
sta
n
d
i
n
g
a
p
p
a
ra
tu
s
f
o
r
in
v
e
stig
a
ti
n
g
c
lo
se
d
-
lo
o
p
c
o
n
tro
l
o
f
a
n
k
le
jo
in
t
m
u
sc
le
c
o
n
trac
ti
o
n
s
d
u
ri
n
g
f
u
n
c
ti
o
n
a
l
e
lec
tri
c
a
l
stim
u
latio
n
,
"
In
ter
n
a
t
io
n
a
l
S
c
h
o
la
rly
Res
e
a
rc
h
No
ti
c
e
s,
v
o
l.
2
0
1
4
,
2
0
1
4
.
[9
]
P
.
J.
G
r
a
h
n
,
G
.
W
.
M
a
ll
o
r
y
,
B.
M
.
Be
rr
y
,
J.
T
.
Ha
c
h
m
a
n
n
,
D.
A.
L
o
b
e
l,
a
n
d
J.
L
.
L
u
jan
,
"
Re
sto
r
a
ti
o
n
o
f
m
o
to
r
f
u
n
c
ti
o
n
f
o
ll
o
w
in
g
sp
in
a
l
c
o
r
d
i
n
ju
ry
v
ia
o
p
ti
m
a
l
c
o
n
tro
l
o
f
in
tras
p
in
a
l
m
icro
stim
u
latio
n
:
t
o
w
a
rd
a
n
e
x
t
g
e
n
e
ra
ti
o
n
c
lo
se
d
-
lo
o
p
n
e
u
ra
l
p
ro
st
h
e
sis,"
Fro
n
ti
e
rs
i
n
n
e
u
ro
sc
ien
c
e
,
v
o
l.
8
,
2
0
1
4
.
[1
0
]
A.
K.
V
a
f
a
d
a
r,
J.
N.
Cô
té,
a
n
d
P
.
S
.
A
r
c
h
a
m
b
a
u
lt
,
"
Eff
e
c
ti
v
e
n
e
ss
o
f
f
u
n
c
ti
o
n
a
l
e
lec
tri
c
a
l
sti
m
u
latio
n
in
im
p
ro
v
in
g
c
li
n
ica
l
o
u
tc
o
m
e
s
in
th
e
u
p
p
e
r
a
rm
f
o
ll
o
w
in
g
stro
k
e
:
a
s
y
ste
m
a
ti
c
re
v
ie
w
a
n
d
m
e
ta
-
a
n
a
l
y
sis,"
Bi
o
M
e
d
re
se
a
rc
h
in
ter
n
a
t
io
n
a
l
,
v
o
l.
2
0
1
5
,
2
0
1
5
.
[1
1]
K.
M
a
sa
n
i
a
n
d
M
.
R.
P
o
p
o
v
ic,
"
F
u
n
c
ti
o
n
a
l
e
lec
tri
c
a
l
stim
u
lati
o
n
i
n
re
h
a
b
il
it
a
ti
o
n
a
n
d
n
e
u
r
o
re
h
a
b
il
it
a
ti
o
n
,
"
i
n
S
p
rin
g
e
r h
a
n
d
b
o
o
k
o
f
me
d
ica
l
tec
h
n
o
lo
g
y
,
e
d
:
S
p
ri
n
g
e
r,
2
0
1
1
,
p
p
.
8
7
7
-
8
9
6
.
[1
2
]
A
.
O
ff
ice
r,
T
.
S
h
a
k
e
sp
e
a
r
e
,
P
.
v
o
n
G
ro
o
te,
J.
Bick
e
n
b
a
c
h
,
a
n
d
W
.
H.
Org
a
n
iza
ti
o
n
,
In
ter
n
a
ti
o
n
a
l
p
e
rs
p
e
c
ti
v
e
s
o
n
sp
in
a
l
c
o
rd
in
j
u
ry
:
W
o
rld
He
a
lt
h
Org
a
n
iza
ti
o
n
,
2
0
1
3
.
[1
3
]
W
.
H.
Org
a
n
iza
ti
o
n
,
Ne
u
ro
lo
g
ica
l
d
iso
r
d
e
rs
:
p
u
b
li
c
h
e
a
lt
h
c
h
a
ll
e
n
g
e
s
:
W
o
rld
He
a
lt
h
Org
a
n
iza
ti
o
n
,
2
0
0
6
.
[1
4
]
M
.
O.
Ib
it
o
y
e
,
N.
A
.
Ha
m
z
a
id
,
N.
Ha
sn
a
n
,
A
.
K.
A
.
W
a
h
a
b
,
a
n
d
G
.
M
.
Da
v
is,
"
S
trate
g
ies
f
o
r
ra
p
i
d
m
u
sc
le
fa
ti
g
u
e
re
d
u
c
ti
o
n
d
u
ri
n
g
F
ES
e
x
e
rc
ise
in
in
d
iv
i
d
u
a
ls
w
it
h
sp
i
n
a
l
c
o
rd
in
j
u
ry
:
a
s
y
ste
m
a
ti
c
r
e
v
ie
w
,
"
Pl
o
S
o
n
e
,
v
o
l
.
1
1
,
p
.
e
0
1
4
9
0
2
4
,
2
0
1
6
.
[1
5
]
M
.
O.
I
b
it
o
y
e
,
N.
A
.
Ha
m
z
a
id
,
J.
M
.
Zu
n
ig
a
,
N.
Ha
sn
a
n
,
a
n
d
A
.
K.
A
.
W
a
h
a
b
,
"
M
e
c
h
a
n
o
m
y
o
g
r
a
p
h
ic
p
a
ra
m
e
t
e
r
e
x
trac
ti
o
n
m
e
th
o
d
s: an
a
p
p
ra
isa
l
f
o
r
c
li
n
ica
l
a
p
p
li
c
a
ti
o
n
s,"
S
e
n
s
o
rs
,
v
o
l.
1
4
,
p
p
.
2
2
9
4
0
-
2
2
9
7
0
,
2
0
1
4
.
[1
6
]
M
.
O.
Ib
it
o
y
e
,
N.
A
.
Ha
m
z
a
id
,
J.
M
.
Zu
n
ig
a
,
a
n
d
A
.
K.
A
.
Wa
h
a
b
,
"
M
e
c
h
a
n
o
m
y
o
g
ra
p
h
y
a
n
d
m
u
sc
le
f
u
n
c
ti
o
n
a
ss
e
ss
m
e
n
t:
A
re
v
ie
w
o
f
c
u
rre
n
t
sta
te an
d
p
r
o
sp
e
c
ts,
"
Cli
n
ic
a
l
Bi
o
me
c
h
a
n
ics
,
v
o
l.
2
9
,
p
p
.
6
9
1
-
7
0
4
,
2
0
1
4
.
[1
7
]
M
.
J.
D
o
lan
,
B
.
J.
A
n
d
re
w
s,
a
n
d
P
.
V
e
lt
i
n
k
,
"
S
w
it
c
h
in
g
c
u
rv
e
c
o
n
tro
ll
e
r
f
o
r
F
ES
-
a
ss
isted
sta
n
d
in
g
u
p
a
n
d
sitt
i
n
g
d
o
w
n
,
"
IEE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
Re
h
a
b
il
it
a
ti
o
n
E
n
g
in
e
e
rin
g
,
v
o
l.
6
,
p
p
.
1
6
7
-
1
7
1
,
1
9
9
8
.
[1
8
]
N.
-
Y.
Yu
,
J.
-
J.
J.
Ch
e
n
,
a
n
d
M
.
S
.
Ju
,
"
Clo
se
d
-
lo
o
p
c
o
n
tro
l
o
f
q
u
a
d
rice
p
s/h
a
m
strin
g
a
c
ti
v
a
ti
o
n
f
o
r
F
ES
-
in
d
u
c
e
d
sta
n
d
in
g
-
u
p
m
o
v
e
m
e
n
t
o
f
p
a
ra
p
leg
ics
,
"
J
o
u
rn
a
l
o
f
M
u
sc
u
l
o
sk
e
leta
l
Res
e
a
rc
h
,
v
o
l.
5
,
p
p
.
1
7
3
-
1
8
4
,
2
0
0
1
.
[1
9
]
C.
Ly
n
c
h
a
n
d
M
.
P
o
p
o
v
ic,
"
Cl
o
se
d
-
lo
o
p
c
o
n
tr
o
l
f
o
r
FE
S
:
P
a
s
t
wo
rk
a
n
d
fu
t
u
re
d
ire
c
ti
o
n
s,"
i
n
1
0
th
A
n
n
u
a
l
Co
n
f
e
re
n
c
e
o
f
th
e
In
tern
a
ti
o
n
a
l
F
ES
S
o
c
iety
,
2
0
0
5
,
p
p
.
2
-
4.
[2
0
]
M
.
P
o
b
o
r
o
n
i
u
c
,
S
.
,
"
Ne
w
e
x
p
e
rime
n
tal
re
su
lt
s
o
n
f
e
e
d
b
a
c
k
c
o
n
tr
o
l
o
f
F
ES
-
b
a
se
d
sta
n
d
in
g
i
n
p
a
ra
p
leg
ia,"
AL
.
I.
CUZA
U
n
ive
rs
it
y
S
c
ien
ti
fi
c
An
n
a
ls
o
f
Bi
o
p
h
y
sic
s,
M
e
d
ica
l
P
h
y
sic
s
a
n
d
E
n
v
iro
n
me
n
t
Ph
y
sic
s,
to
m.I,
,
v
o
l
.
v
o
l.
III,
p
p
.
8
3
-
8
9
,
2
0
0
7
.
[2
1
]
R.
Da
v
o
o
d
i
a
n
d
B.
J.
A
n
d
re
w
s,
"
Co
m
p
u
ter
si
m
u
latio
n
o
f
F
ES
st
a
n
d
in
g
u
p
in
p
a
ra
p
leg
ia:
A
se
l
f
-
a
d
a
p
ti
v
e
f
u
z
z
y
c
o
n
tro
ll
e
r
w
it
h
re
in
f
o
rc
e
m
e
n
t
lea
rn
in
g
,
"
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
Reh
a
b
il
it
a
ti
o
n
En
g
in
e
e
rin
g
,
v
o
l.
6
,
p
p
.
1
5
1
-
1
6
1
,
1
9
9
8
.
[2
2
]
R.
Da
v
o
o
d
i
a
n
d
B.
J.
A
n
d
re
w
s,
"
Op
ti
m
a
l
c
o
n
tro
l
o
f
F
ES
-
a
ss
isted
sta
n
d
in
g
u
p
i
n
p
a
ra
p
leg
ia
u
sin
g
g
e
n
e
ti
c
a
lg
o
rit
h
m
s,"
M
e
d
ica
l
e
n
g
i
n
e
e
rin
g
&
p
h
y
sic
s,
v
o
l.
2
1
,
p
p
.
6
0
9
-
6
1
7
,
1
9
9
9
.
[2
3
]
M
.
Hu
q
a
n
d
M
.
T
o
k
h
i,
"
Ge
n
e
ti
c
a
lg
o
rit
h
m
s
b
a
se
d
a
p
p
ro
a
c
h
f
o
r
d
e
sig
n
in
g
sp
rin
g
b
ra
k
e
o
rth
o
sis
–
P
a
r
t
II:
Co
n
tro
l
o
f
F
ES
i
n
d
u
c
e
d
m
o
v
e
m
e
n
t,
"
Ap
p
li
e
d
Bi
o
n
ics
a
n
d
B
io
me
c
h
a
n
ics
,
v
o
l.
9
,
p
p
.
3
1
7
-
3
3
1
,
2
0
1
2
.
[2
4
]
F
.
P
re
v
id
i,
M
.
F
e
rra
rin
,
S
.
M
.
S
a
v
a
re
si,
a
n
d
S
.
Bit
ta
n
ti
,
"
Clo
se
d
-
lo
o
p
c
o
n
tr
o
l
o
f
F
ES
su
p
p
o
rted
s
tan
d
i
n
g
u
p
a
n
d
sitt
in
g
d
o
w
n
u
sin
g
V
irt
u
a
l
Re
f
e
re
n
c
e
F
e
e
d
b
a
c
k
T
u
n
in
g
,
"
Co
n
tro
l
En
g
i
n
e
e
rin
g
Pra
c
ti
c
e
,
v
o
l.
1
3
,
p
p
.
1
1
7
3
-
1
1
8
2
,
2
0
0
5
.
[2
5
]
R.
M
.
Esf
a
n
jan
i
a
n
d
F
.
T
o
w
h
id
k
h
a
h
,
"
A
p
p
l
ica
ti
o
n
o
f
n
o
n
li
n
e
a
r
mo
d
e
l
p
re
d
ictive
c
o
n
tro
ll
e
r
fo
r
FE
S
-
a
ss
isted
sta
n
d
in
g
u
p
in
p
a
ra
p
leg
i
a
,
"
in
En
g
in
e
e
rin
g
in
M
e
d
icin
e
a
n
d
B
io
lo
g
y
S
o
c
iet
y
,
2
0
0
5
.
IEE
E
-
E
M
BS
2
0
0
5
.
2
7
t
h
A
n
n
u
a
l
In
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
f
th
e
,
2
0
0
6
,
p
p
.
6
2
1
0
-
6
2
1
3
.
[2
6
]
M
.
W
.
S
p
o
n
g
,
S
.
Hu
tch
in
s
o
n
,
a
n
d
M
.
V
i
d
y
a
s
a
g
a
r,
Ro
b
o
t
mo
d
e
li
n
g
a
n
d
c
o
n
tro
l
:
W
il
e
y
Ne
w
Yo
rk
,
2
0
0
6
.
[2
7
]
B.
S
icili
a
n
o
,
L
.
S
c
iav
icc
o
,
L
.
Vil
lan
i,
a
n
d
G
.
Orio
lo
,
Ro
b
o
ti
c
s:
m
o
d
e
ll
i
n
g
,
p
la
n
n
i
n
g
a
n
d
c
o
n
tr
o
l
:
S
p
rin
g
e
r
S
c
ien
c
e
&
Bu
sin
e
ss
M
e
d
ia,
2
0
1
0
.
[2
8
]
S
.
Nu
z
ik
,
R.
L
a
m
b
,
A
.
V
a
n
S
a
n
t,
a
n
d
S
.
Hirt,
"
S
it
-
to
-
sta
n
d
m
o
v
e
m
e
n
t
p
a
tt
e
rn
,
"
Ph
y
sic
a
l
T
h
e
ra
p
y
,
v
o
l.
6
6
,
p
p
.
1
7
0
8
-
1
7
1
3
,
1
9
8
6
.
[2
9
]
R.
Ka
m
n
ik
,
J.
Q.
S
h
i,
R.
M
u
r
r
a
y
-
S
m
it
h
,
a
n
d
T
.
Ba
jd
,
"
No
n
li
n
e
a
r
m
o
d
e
li
n
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