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Nagai, Kiyoshi, Kitayama, Kazuya, Ito, Koji, Loureiro, Rui C. V. and Harwin, William (2012) Structural analysis of an escort type rehabilitation robot. Journal of the Robotics Society of Japan, 30 (1) . pp. 53-61. ISSN 0289-1824 (print) ; 1884-7145 (online) [Article]