An optimized proportional-derivative controller for the human upper extremity with gravity. Jagodnik, K. M., Blana, D., Bogert, A. J. v. d., & Kirsch, R. F. Journal of Biomechanics, 48(13):3701–3709, October, 2015.
An optimized proportional-derivative controller for the human upper extremity with gravity [link]Paper  doi  bibtex   
@article{jagodnik_optimized_2015,
	title = {An optimized proportional-derivative controller for the human upper extremity with gravity},
	volume = {48},
	issn = {0021-9290, 1873-2380},
	url = {http://www.jbiomech.com/article/S0021-9290(15)00455-8/fulltext},
	doi = {10.1016/j.jbiomech.2015.08.016},
	language = {English},
	number = {13},
	urldate = {2017-06-04},
	journal = {Journal of Biomechanics},
	author = {Jagodnik, Kathleen M. and Blana, Dimitra and Bogert, Antonie J. van den and Kirsch, Robert F.},
	month = oct,
	year = {2015},
	keywords = {Feedback control, Functional electrical stimulation, Human, Musculoskeletal modeling and simulation, Optimization, Proportional-derivative, Upper extremity},
	pages = {3701--3709}
}

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