Performance Evaluation of a Planar 3DOF Robotic Exoskeleton for Motor Assessment.
Ball, S.J., Brown, I.E. and Scott, S.H. (2009)
Journal of Medical Devices 3:021002-1:12 doi:10.1115/1.3131727 [PDF ]
This paper, and its US and Canadian Patents, document the underlying design of the KINARM Exoskeleton released February 2016.