1、35 5 2013 M9 ROBOTVol.35, No.5Sep., 2013DOI10.3724/SP.J.1218.2013.00630 B Cs 1;21uZ1 1. v 212013 2.F 2CAO Dianfeng1ZHAO Jinhai1(1. School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China;2. Lab of System Engineering end-traction; exoskeleton robot; mechanical design; rehabilita
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