Actuation selection for assistive exoskeletons: matching capabilities to task requirements
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Transactions on Neural Systems and Rehabilitation Engineering (TNSRE)
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Selecting actuators for assistive exoskeletons involves decisions in which designers usually face contrasting requirements. While certain choices may depend on the application context or design philosophy, it is generally desirable to avoid oversizing actuators in order to obtain more lightweight and transparent systems, ultimately promoting the adoption of a given device.
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