Performance Evaluation of a Planar 3DOF Robotic Exoskeleton for Motor Assessment
Ball SJ, Brown IE, Scott SH (2009)
J Med Devices. 2009 Jun;3(2):021002. doi:10.1115/1.3131727.
*This paper, and its US and Canadian Patents, document the underlying design of the KINARM Exoskeleton released February 2016.