@article {332,
	title = {An Upper-Body Rehabilitation Exoskeleton Harmony with an Anatomical Shoulder Mechanism: Design, Modeling, Control, and Performance Evaluation},
	journal = {International Journal of Robotics Research (IJRR)},
	volume = {36},
	year = {2017},
	pages = {414-435},
	author = {Bongsu Kim and Ashish D. Deshpande}
}
