@article{babaiasl2014anthropomorphic,
  title={Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system},
  author={Babaiasl, M and Ghanbari, A and Noorani, S},
  journal={Engineering Solid Mechanics},
  volume={2},
  number={3},
  pages={151--162},
  year={2014}
}

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