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D. W. Franklin, R. Osu, E. Burdet, M. Kawato and T. E. Milner, “Adaptation to Stable and Unstable Dynamics Achieved by Combined Impedance Control and Inverse Dynamics Model,” Journal of Neurophysiology, Vol. 90, No. 5, 2003, pp. 3270-3282. doi:10.1152/jn.01112.2002

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