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The error of the robot torque is more than twice the HRC. Therefore, the HRC torque is more accurate than the actual torque. The proposed HRC dynamics effectively achieves more accurate dynamic control of upper limb rehabilitation robots. The proposed HRC dynamics effectively achieves more accurate dynamic control of upper limb rehabilitation robots. Functional recovery of the plegic upper limb in post-stroke patients may be enhanced by sequentially applying a myoelectrically controlled FES (MeCFES), which allows the patient to voluntaril
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